Nov 6, 2026J/K move · Enter open · S save
Shubham Singh, Anand Singh, Anjali Tiwari, Lara Briñón-Arranz+1
Department of Mathematical and Computing Science, School of Computing, Institute of Science Tokyo, Tokyo 152-8550, Japan · Department of Electrical Engineering, Indian Institute of Technology Jodhpur, Jodhpur 342030, India · Univ. Grenoble Alpes, CNRS, Grenoble INP, GIPSA-lab, 38000 Grenoble, France
Circumnavigating a stationary target with a team of robots requires each robot to hold its own standoff distance, to stay evenly spaced from its neighbours, and to avoid collisions with the target and with each other at every instant. The task becomes arduous when the robots are assigned different orbital radii, as their sensors or roles may demand. This paper presents a safety-critical control framework for this problem. Each robot commands both its acceleration and its turn-rate, measures only its distance to the target, and exchanges information only with its two ring neighbours. The design has three features. First, a structural property of the model lets one control law serve every robot regardless of its assigned radius. Second, the acceleration drives each radius exactly to its target, while the turn-rate balances the formation with the neighbours. Third, a higher-order control-barrier-function quadratic program enforces target, geofence, and inter-robot safety on both inputs at once; it leaves the nominal controller untouched away from the constraints and stays valid while the unmeasured range rate is still being estimated. Simulations confirm these guarantees. In a comparison, the closest existing multi-orbit design, even with full state information, violates both the target standoff and the inter-robot margin, whereas the proposed controller does not.