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The problem of multi-agent formation control for target tracking isconsidered in this paper. The target is an irregular dynamic shape approximatedby a circle with moving centre and varying radius. It is assumed that there aren agents and one of them is capable of measuring both the distance to theboundary of the target and to its centre. All the agents must circumnavigatethe boundary of the target while forming a regular polygon. We also consider asatellite capable of providing an initial noisy estimate of the target. Acontrol protocol is designed for all agents and the convergence to the desiredstate is proved up to a limit bound. A simulated example is provided to verifythe performance of the control protocol designed in this paper.

Multi-agent formation control for circumnavigation of dynamic shapes