Technical Report CIS-2021-01

Title: Path-Following States of Proportional-Control Unicycles with Bearing-Only Sensing in Pursuit of a Constant Velocity Target
Authors: David Dovrat, Twinkle Tripathy, and Alfred M. Bruckstein
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Abstract: This report presents an analysis of the pursuit of a constant-velocity target by a unicycle agent moving at a constant speed, and guided by a steering control law proportional to the bearing angle towards the target. We categorize the system states and transitions between them to show that the pursuing agent must eventually either capture the target in finite time or asymptotically follow its path, regardless of initial conditions, given the gain in the control law is large enough.
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