Sinha, A and Ghose, D (2005) Generalization of the Cyclic Pursuit Problem. In: Proceedings of the 2005 American Control Conference, 2005, 8-10 June, USA, pp. 4997-5002.
In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent $i$ pursues agent $i+1$ modulo $n$. Each agent is subjected to a nonholonomic constraint. The necessary conditions for equilibrium formation to occur among a group of agents with different speeds and controller gains is discussed. These results generalize equal speed and equal controller gain results available in the literature.
|Item Type:||Conference Paper|
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|Department/Centre:||Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)|
|Date Deposited:||25 Aug 2008|
|Last Modified:||19 Sep 2010 04:21|
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