ABSTRACT
This chapter considers the problem of coordinating multiple mobile robots to sense and track a moving target. Accurate and complete cooperative observation of the target is obtained by driving the robots to achieve a set of prescribed relative viewing angles, encapsulated by a default desired enclosing pattern, with respect to the target. The flexibility allowed by the method in defining each robot's motion is very handy for navigation tasks. Many improvements and additions are possible, building on the foundations laid by the presented methodology. For instance, an interesting issue to explore would be how to adapt the control framework to tasks requiring interaction with physical objects or human agents. An additional advantage of the described controller is that each robot can implement it using its independent local reference frame. The proposed control can be computed by each robot using a local and arbitrarily oriented coordinate frame.
