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Generalization of Linear Cyclic Pursuit With Application to Rendezvous of Multiple Autonomous Agents

Sinha, Arpita and Ghose, Debasish (2006) Generalization of Linear Cyclic Pursuit With Application to Rendezvous of Multiple Autonomous Agents. In: IEEE Transactions on Automatic Control, 51 (11). pp. 1819-1824.

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Abstract

Cyclic pursuit is a simple distributed control law in which agent i pursues agent i + 1 modulo n. We generalize existing results and show that by selecting the gains of the agents, the point of convergence of these agents can be controlled. The condition for convergence, the range of controller gains and the reachable set where convergence can occur are studied. It is also shown that the sequence in which an agent pursues another does not affect the point of convergence.

Item Type: Journal Article
Additional Information: Copyright 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 25 Aug 2008
Last Modified: 19 Sep 2010 04:33
URI: http://eprints.iisc.ernet.in/id/eprint/9109

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