Target Tracking Systems on a Sphere With Topographic Information

Sun Ho Choi, Soyeong Jeong, Dohyun Kwon, Hyowon Seo

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


We consider the target tracking problem on a sphere with topographic structure. For a given moving target on the unit sphere, we suggest a double-integrator autonomous system of multiple agents that track the given target under the topographic influence. Through this dynamic system, we can obtain a control design for target tracking on the sphere and the adapted topographic data provides an efficient agent trajectory. The topographic information, described as a form of friction in the double-integrator system, affects the velocity and acceleration of the target and agents. The target information required by the tracking agents consists of position, velocity, and acceleration. We can obtain practical rendezvous results when agents utilize only target position and velocity information. If the acceleration data of the target is accessible, we can get the complete rendezvous result using an additional control term in the form of the Coriolis force. We provide mathematically rigorous proofs for these results and present numerical experiments that can be visually confirmed.

Original languageEnglish
Pages (from-to)2901-2913
Number of pages13
JournalIEEE Transactions on Cybernetics
Issue number5
StatePublished - 1 May 2024


  • Autonomous system
  • complete rendezvous
  • control law
  • target tracking on a sphere
  • topography


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