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arXiv · 2605.22114

Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent

Hong Liang Cheah·Mohammad Deghat·Jose Guivant
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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.

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Hong Liang Cheah, Mohammad Deghat, Jose Guivant. 2026-05-21. Bearing-Only Solution to the Fermat-Weber Location Problem for Unicycle Agent. https://arxiv.org/abs/2605.22114

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