Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| _version_ | 1866916037743607808 |
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| author | Cheah, Hong Liang Deghat, Mohammad Guivant, Jose |
| author_facet | Cheah, Hong Liang Deghat, Mohammad Guivant, Jose |
| contents | This paper addresses bearing-only algorithms for solving the Fermat-Weber Location Problem (FWLP) with a unicycle agent. Unlike existing FWLP solutions for single- or double-integrator agents, our approach accounts for the nonholonomic constraints of wheeled robots. We first develop a bearing-only control law for the case with stationary beacons. Next, we consider saturated control inputs and propose a corresponding bearing-only control law. Finally, we address moving beacons with constant velocities and develop a control law that enables the unicycle agent to track the moving Fermat-Weber point. Both simulations and experiments are provided to demonstrate the effectiveness of the proposed methods. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_22114 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent Cheah, Hong Liang Deghat, Mohammad Guivant, Jose Systems and Control This paper addresses bearing-only algorithms for solving the Fermat-Weber Location Problem (FWLP) with a unicycle agent. Unlike existing FWLP solutions for single- or double-integrator agents, our approach accounts for the nonholonomic constraints of wheeled robots. We first develop a bearing-only control law for the case with stationary beacons. Next, we consider saturated control inputs and propose a corresponding bearing-only control law. Finally, we address moving beacons with constant velocities and develop a control law that enables the unicycle agent to track the moving Fermat-Weber point. Both simulations and experiments are provided to demonstrate the effectiveness of the proposed methods. |
| title | Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2605.22114 |