Addressing the problem of enclosing and tracking a target requires multiple agents with adequate motion strategies. We consider a team of unicycle robots with a standard camera on board. The robots must maintain the desired enclosing formation while dealing with their nonholonomic motion constraints. The reference formation trajectories must also guarantee permanent visibility of the target by overcoming the limited field of view of the cameras. In this article, we present a novel approach to characterize the conditions on the robots’ trajectories taking into account the motion and visual constraints. We also propose online and offline motion planning strategies to address the constraints involved in the task of enclosing and tracking the target. These strategies are based on maintaining the formation shape with variable size or, alternatively, on maintaining the size of the formation with flexible shape.

中文翻译：

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自适应多机器人编队规划，以包围和跟踪具有运动和可见性约束的目标

解决包围和跟踪目标的问题需要多个具有适当运动策略的代理。我们考虑了一组带有标准相机的独轮车机器人。机器人必须在处理其非完整运动约束的同时保持所需的封闭编队。参考编队轨迹还必须通过克服摄像机的有限视野来保证目标的永久可见性。在本文中，我们提出了一种新方法来表征机器人轨迹上的条件，同时考虑到运动和视觉约束。我们还提出了在线和离线运动规划策略，以解决包围和跟踪目标任务所涉及的约束。这些策略基于保持具有可变尺寸的地层形状，或者，