Cyclic pursuit without coordinates: Convergence to regular polygon formations

Maxim Arnold, Yuliy Baryshnikov, Daniel Liberzon

研究成果: Contribution to journalConference article査読

6 被引用数 (Scopus)

抄録

We study a multi-agent cyclic pursuit model where each of the identical agents moves like a Dubins car and maintains a fixed heading angle with respect to the next agent. We establish that stationary shapes for this system are regular polygons. We derive a sufficient condition for local convergence to such regular polygon formations, which takes the form of an inequality connecting the angles of the regular polygon with the heading angle of the agents. A block-circulant structure of the system's linearization matrix in suitable coordinates facilitates and elucidates our analysis. Our results are complementary to the conditions for rendezvous obtained in earlier work [Yu et al., IEEE Trans. Autom. Contr., Feb. 2012].

本文言語英語
論文番号7040359
ページ(範囲)6191-6196
ページ数6
ジャーナルProceedings of the IEEE Conference on Decision and Control
2015-February
February
DOI
出版ステータス出版済み - 1 1 2014
外部発表はい
イベント2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, 米国
継続期間: 12 15 201412 17 2014

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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