Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent
Abstract
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.
Keywords
Cite
@article{arxiv.2605.22114,
title = {Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent},
author = {Hong Liang Cheah and Mohammad Deghat and Jose Guivant},
journal= {arXiv preprint arXiv:2605.22114},
year = {2026}
}
Comments
This paper has been accepted for presentation at the 23rd IFAC World Congress