Abstract
In this paper, we deal with a problem of encircling and navigating a target to a goal by multiple autonomous agents, where the target escapes from the agents according to a reasonable strategy. First, we derive a sufficient condition for success in both encircling and navigating the target. This result shows that the condition for both encircling and navigating is stricter than a condition for only encircling. The derived condition is described by the agents' controller gains, thus is useful to design the controllers. Second, we estimate the navigation error of the target from the goal, which might occur depending on the agents and target's parameters. Finally, the validity of the analysis results is illustrated by simulations and an experiment.
