  Minimum circle circumnavigation is proposed in this paper, which is of
special value in target monitoring, capturing and/or attacking. In this paper,
a safe minimum circle circumnavigation of multiple targets based on bearing
measurements is studied. In contrast with the traditional circumnavigation
problem, with the new pattern, one agent is able to enclose multiple targets
along a minimum circle with the desired enclosing distance and tangential
speed. To achieve the minimum circle circumnavigation, an algorithm including
dynamic compensators and a control protocol is proposed, by which collision is
avoided between the agent and the multiple targets during the whole moving
process. Moreover, the control protocol developed for a single agent is further
extended to the scenarios of multiple agents by adding a coordination mechanism
into the tangential velocity term, which drives the agents to distribute evenly
on each expected circular orbit with the same radius or different radius.
Simulations results illustrate the effectiveness of the proposed methods.
