Distributed target localization and encirclement with a multi-robot system

Antonio Franchi*, Paolo Stegagno, Maurizio Di Rocco, Giuseppe Oriolo

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

36 Citations (Scopus)


This paper presents a control scheme for localizing and encircling a target using a multi-robot system. The task is achieved in a distributed way, in that each robot only uses local information gathered by on-board relative-position sensors assumed to be noisy, anisotropic, and unable to detect the identity of the measured object. Communication between the robots is provided by limited-range transceivers. Experimental results with stationary and moving targets support the theoretical analysis.

Original languageEnglish
Title of host publication7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2010 - Proceedings
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)9783902661876
Publication statusPublished - 2010
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


  • Distributed control
  • Encirclement
  • Multi-robot systems
  • Mutual localization


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