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This paper proposes a distributed target tracking solution using a team of Unmanned Aerial Vehicles (UAVs) equipped with low-cost visual sensors capable of measuring targets bearing information only. The team of UAVs moves along circular orbits and uses consensus–based distributed Kalman Filtering to identify the position of the target. We show that the centre of the orbit eventually converges to the target position using theoretical arguments and extensive simulation data. By using the same approach, we can solve the rendezvous problem: the team first scans an area in search of a target; as soon as one of the UAVs spots, the other components converge on the target position.

A Distributed Strategy for Target Tracking and Rendezvous Using UAVs Relying on Visual Information Only