Technical Report CIS-2021-02

Title: Capture 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 find which initial conditions may lead to the target's ultimate capture.
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