This manuscript presents a novel scheme of target tracking and enclosing to the field of multirobot systems, specifically addressing the adaptive enclosing and tracking of moving target objects by nonholonomic mobile robots with uncertain parameters, while considering motion and FOV constraints. The significance of our work lies in the introduction of a novel approach based on the PPB technique, a methodology not previously applied in this context. Our research advances existing understanding by seamlessly integrating the complexities of motion dynamics and FOV constraints within a comprehensive framework. Unlike prior studies relying on external input or assuming global positioning sensors, our work pioneers the use of onboard sensors with relative position measurement, addressing the practical challenges associated with dynamic target objects over prolonged durations. By adopting the PPB technique, we provide a structured solution, ensuring not only theoretical soundness but also pra...

This article presents a systematic design approach to address the challenge of enclosing and tracking a moving target in multirobot systems while accounting for motion and field of view (FOV) constraints. First, a reference trajectory is designed based on relative position measurement which also conforms to the motion and FOV constraints. Subsequently, considering the uncertainty of mobile robots, and combining prescribed performance bound (PPB) technique, an adaptive tracking solutions are designed to force the fleet of robots track and enclose the moving target. Experimental results demonstrate that the robots can efficiently track the provided reference trajectory while ensuring guaranteed transient performance of position and direction tracking errors, account for the motion and FOV constraints, achieve rapid enclosing and tracking of target objects.