Enclose a Target with Multiple Nonholonomic Agents

In this paper, an algorithm on circular circumnavigation of nonholonomic agents is proposed. The agents are required to enclose a static target with predefined radius and circumferential speed. The algorithm completely relies on local bearing angle measurement. Cyclic pursuit is adapted to coordinate the agents and generate an even formation at the circle. Theoretical analysis on the stability of algorithm is given. The applicability and effectiveness of the algorithm is testified with simulations on the unmanned surface vessel (USV) platform.