40


second intermediate position, the agents lock on to the target and also keep in pace with

the target, tracing it perfectly till the end.

 To show the robustness of this idea, the simulation is carried out such that some

randomly chosen agents fail during the course of tracking. Still, the agents are successful

in regrouping themselves back in the required formation and tracking the target easily.

Although the robots will not be colliding with each other due to the IP emitted by them,

the robots can still collide with the inactive or failed robots. Hence, a good obstacle

avoidance scheme is required.


 10 -------------------------------------------------------------------
 S1econc Intermpdiate position First Intermediate Position:
 8 of robots and target ofrdbots ard target
 -- -- -- --------- ------ --- -- --- -- i


 and ta get t .
 4---


 -2 ---L -----*


 S.I Inn'
 -4 ------- ------- r -------------- I------ I ------ ------- --- ------ ------
 Active Robots andta" get
 25 0 *' f *A '






 -10 I l* l
 S--- -- -----6 ------4 -------- 2 4 6 --


 -*- Base Stations\
 ----------- T---.-


 -6 0 Target ----- --- Int-- ------ -o --o r ---o -s
 A ctive Robots and target ',
 -8 x Failed Robots -......... ...-..... L ---. J
 Trajectory of the target
 -10 -8 -6 -4 -2 0 2 4 6 8 10
 X Coordinate

Figure 4.4 Collective target tracking of a moving target with robots in circular formation

 When the target is moving, the radars at the base stations need to constantly track

the position of the target and move their LOS accordingly. Further, only when the speed

of the target is less than the maximum speed of robots, the swarm will be able to lock on