On Tracking and Capture in Proportional-Control Bearing-Only Unicycle Pursuit

David Dovrat, Twinkle Tripathy, Alfred M. Bruckstein

Research output: Contribution to journalArticlepeer-review


An agent with constant speed unicycle kinematics senses only the bearing towards a target and pursues it, guided by a steering control law proportional to the bearing-angle to the target. The target's speed is equal to that of the chasing agent while it moves at a constant velocity. This letter presents a comprehensive analysis of this unicycle pursuit problem and shows that with enough gain in the control law, the agent eventually either captures the target or follows its path while maintaining a finite distance from it, regardless of the initial conditions.

Original languageEnglish
Pages (from-to)2132-2137
Number of pages6
JournalIEEE Control Systems Letters
StatePublished - 2022


  • Autonomous systems
  • Lyapunov methods
  • nonholonomic systems

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Control and Optimization


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