arxiveess.SY2026-06-26
Bearing-based Circumnavigation with Collision Avoidance in Time-varying Graphs under Limited Target Information
Kushal Pratap Singh, Twinkle Tripathy, Anoop Jain
In this paper, we study distributed circumnavigation of a stationary target by a heterogeneous team of agents. Each agent is modelled as a disk rather than a point mass to account for its physical dimensions. The target location is assumed to be accessible only to a small subset…