Abstract
Tracking control is an essential requirement for robot swarms capable of performing a wide variety of tasks in an unknown dynamic environment. In this paper, we present a cooperative tracking strategy that enables large swarms of robots to split into smaller groups and follow multiple moving goals in the presence of environmental constraints. Using a network of local interactions, the proposed strategy is implemented with two principal functions of both adaptive flocking and determination of a goal direction. During the flocking process, the robots with limited range of sensing are able to maintain a uniform distance to each other, while following multiple moving goals. Finally, we verify the effectiveness of the proposed tracking strategy by computer simulations both in empty and cluttered environments.
