Coordinate-Free Distributed Localization and Circumnavigation for Nonholonomic Vehicles Without Position Information

This article studies the localization and circumnavigation problem concerned with a cluster of nonholonomic vehicles independently of a uniform global coordinate. Particularly, the clustered vehicles collaboratively locate an unknown target and then circumnavigate it isometrically with desired distance and velocity. However, the vehicles have no access to any position information, including their own absolute positions and others’ relative...