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    This study introduces a multi-agent system for tracking a moving target on a sphere, using topographic data to guide agent movement and ensure efficient trajectory planning for autonomous systems.

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    Area of Science:

    • Robotics and Control Systems
    • Geometric Dynamics
    • Autonomous Navigation

    Background:

    • Target tracking on spherical manifolds presents unique challenges due to curvature and topography.
    • Existing methods often struggle with dynamic environments and limited sensory information.

    Purpose of the Study:

    • To develop a robust multi-agent tracking system for a moving target on a unit sphere with topographic features.
    • To design a control strategy that leverages topographic data for efficient agent trajectory planning.

    Main Methods:

    • A double-integrator autonomous system model for multiple agents was employed.
    • Topographic information was integrated as a friction-like force influencing agent and target dynamics.
    • Control designs were developed using target position, velocity, and acceleration data.

    Main Results:

    • The system demonstrated effective target tracking on the sphere, influenced by topographic data.
    • Practical rendezvous results were achieved using only target position and velocity.
    • Complete rendezvous was obtained with the addition of target acceleration data and a Coriolis force-inspired control term.

    Conclusions:

    • The proposed dynamic system and control design enable efficient target tracking on spheres with complex topography.
    • The system's performance is adaptable based on the availability of target kinematic information (position, velocity, acceleration).
    • Mathematical proofs and numerical experiments validate the effectiveness of the proposed approach.