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Some Generalizations of Linear Cyclic Pursuit

Sinha, Arpita and Ghose, Debasish (2004) Some Generalizations of Linear Cyclic Pursuit. In: IEEE INDICON 2004 First India Annual Conference, 2004, 20-22 December, Kharagpur, 210 -213.

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Abstract

In this paper, the behaviour 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 $n$. The agents are assumed to be linear and identical, with no kinematic constraints on motion. It is shown here that the point of convergence of the system of agents is a function of the controller gain. The bounds on the controller gain for convergence to occur is also studied. The results generalize available results in the literature.

Item Type: Conference Paper
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Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 01 Dec 2005
Last Modified: 19 Sep 2010 04:21
URI: http://eprints.iisc.ernet.in/id/eprint/4237

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