Multi-UAV Bearing-Only Active Tracking via Prescribed-Shell Bearing-Geometry Self-Organization

In multi-UAV bearing-only active tracking, the estimation and control performance is fundamentally determined by the target-centered bearing geometry, as passive angle-of-arrival measurements provide directional information without direct range information. To overcome this limitation, this paper formulates the problem as prescribed-shell bearing-geometry self-organization, in which the radial sensing scale is regulated to an admissible shell while the angular bearing distribution is actively reshaped on that shell. A shell-compatible moment–volume bearing-enclosure potential is first constructed directly on unit bearing directions, decoupling angular geometry improvement from unsafe range reduction and encoding directed balance, angular isotropy, and noncoplanar enclosure. To realize the resulting direction-space descent via physical UAV motion, a radius-normalized tangential lifting mechanism is derived from bearing-direction kinematics, eliminating radius-dependent angular-rate bias. The nominal radial–tangential command is then executed through a bearing-geometry-preserving ECBF-QP that embeds a predefined-time radial shell-reaching constraint, enforces target standoff, inter-UAV separation, and input constraints, and preserves shell reaching and tangential geometry improvement whenever feasible. Closed-loop analysis establishes shell reaching, practical bearing-geometry descent, safety forward invariance, and signal boundedness. Finally, improved bearing geometry, prescribed-shell convergence, preserved safety margins, reduced disruption from safety filtering, and real-world implementability are demonstrated via simulations, ablation studies, ROS-based validation, and a real-world flight experiment, which provide a promising approach for multi-UAV bearing-only active tracking.