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<p>This paper investigates the cooperative circumnavigation problem for multi-agent systems in various environments. Unlike existing studies that primarily focus on continuous-time systems in two-dimensional (2D) obstacle-free scenarios, this work addresses a more general case in three-dimensional (3D) environments within a discrete-time framework, considering that the physical agent and its digital controller inherently constitute a sampled-data system in practice. First, a convex model is introduced to enclose and represent real-world obstacles. Subsequently, a distributed discrete-time controller is developed, and sufficient conditions for system stability are derived via Lyapunov analysis in the discrete-time domain. These constraints theoretically define the feasible range of controller parameters, thereby establishing a foundation for their selection. Afterward, an obstacle avoidance strategy with a dynamic weighting mechanism is developed for the agents, enabling proactive collision avoidance in 3D environments. Consequently, the multi-agent system safely avoids obstacles while performing circumnavigation tasks following predefined configurations. Finally, numerical experiments are conducted to validate the effectiveness of the proposed method and demonstrate its performance.</p>

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Cooperative circumnavigation using discrete-time control inputs in different scenarios

  • 期刊论文

  • 发表日期：

    2026年6月3日

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  • Zhoujian Ma,
  • Chuanying Li,
  • Ke Chen,
  • Yinya Li

摘要

This paper investigates the cooperative circumnavigation problem for multi-agent systems in various environments. Unlike existing studies that primarily focus on continuous-time systems in two-dimensional (2D) obstacle-free scenarios, this work addresses a more general case in three-dimensional (3D) environments within a discrete-time framework, considering that the physical agent and its digital controller inherently constitute a sampled-data system in practice. First, a convex model is introduced to enclose and represent real-world obstacles. Subsequently, a distributed discrete-time controller is developed, and sufficient conditions for system stability are derived via Lyapunov analysis in the discrete-time domain. These constraints theoretically define the feasible range of controller parameters, thereby establishing a foundation for their selection. Afterward, an obstacle avoidance strategy with a dynamic weighting mechanism is developed for the agents, enabling proactive collision avoidance in 3D environments. Consequently, the multi-agent system safely avoids obstacles while performing circumnavigation tasks following predefined configurations. Finally, numerical experiments are conducted to validate the effectiveness of the proposed method and demonstrate its performance.