Target Tracking for Multiagent Systems Under Operation and Communication Safety

This article studies a target tracking problem for a multiagent system with operation and communication safety under two kinds of relationships. A class of control protocols is designed to achieve the target tracking in the two-agent case under two relationships first as a foundation for the multiple agents, where the agents exhibit different behavioral patterns under different relationships. The control protocol employs topology and optimization theories to search for a moving direction in a mapping convex space, ensuring operation and communication safety. Furthermore, a target tracking algorithm for the multiagent system is designed to achieve target tracking with operation and communication safety, and expands to the static obstacle-existence scenario and the dynamic and static obstacle-existence scenario. By introducing weight parameters to increase the dimension of the optimized variable, the probability of the absence of a feasible control input for the multiagent system is greatly reduced. Next, to improve the feasibility and scalability of the proposed algorithm, some extended discussions and analysis are provided, including the relaxation of some assumptions, the selection of parameters, and the execution of the algorithm. Finally, some simulation results are provided to verify the advantages and the effectiveness of our algorithm.