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This paper extends our earlier results on cooperative target tracking in cyclic pursuit using a group of mobile robots by further prescribing the formation radius and achieving an elliptical formation pattern. Prescribing the formation radius of a balanced circular formation is achieved by adjusting a parameter in the existing control input to each robot. The new elliptical formation pattern is obtained via a transformation matrix. Both single-integrator and double-integrator robot models are considered. The effectiveness of the proposed schemes is demonstrated by simulation examples.


L. Ma and N. Hovakimyan, "Cooperative Target Tracking in Balanced Circular and Elliptical Formations," 2020 IEEE Conference on Control Technology and Applications (CCTA), 2020, pp. 49-56, doi: 10.1109/CCTA41146.2020.9206318. © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

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