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This paper concentrates on the collaborative target tracking control of apair of tracking vehicles with formation constraints. The proposed controllerrequires only distance measurements between tracking vehicles and the target.Its novelty lies in two aspects: 1) the elliptic coordinates are used torepresent an arbitrary tracking formation without singularity, which can bededuced from inter-agent distances, and 2) the regulation of the trackingvehicle system obeys a binocular coordination principle, which simplifies thedesign of the control law by leveraging rich physical meanings of ellipticcoordinates. The tracking system with the proposed controller is proven to beexponentially convergent when the target is stationary. When the target driftswith a small velocity, the desired tracking formation is achieved within asmall margin proportional to the magnitude of the target's drift velocity.Simulation examples are provided to demonstrate the tracking performance of theproposed controller.

Collaborative Target Tracking in Elliptic Coordinates: a Binocular Coordination Approach