Multi-targets localization and elliptical circumnavigation by multi-agents using bearing-only measurements in two-dimensional space

In order to enable the multi-agents to elliptically circumnavigate the multi-targets in more complex environment, we propose a geometric center estimator and an elliptical circumnavigation controller in two-dimensional space by only employing bearing measurements without knowing the target's position and velocity. The stability of the algorithm is proved for both stationary targets and dynamic targets. Finally, a series of numerical simulations is presented to verify the correctness of the algorithm both in ideal networks and in networks with communication delays.