Shapes of cyclic pursuit and their evolution

Yuliy Baryshnikov, Cheng Chen

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抜粋

We study the geometry of a 2-dimensional cyclic pursuit problem where n identical mobile agents modeled as unicycles are driven by a distributed control law. The agent i pursuits the agent i + 1 modulo n with the same constant forward speed. We propose, for the first time, a stable relative (1 : n)-periodic trajectory (RPT) for the polygonal chain formed by the system with a sufficiently large n. Unlike regular polygon, the polygonal chain evolves into the shape of figure-eight while the system follows this RPT. The shape of the figure-eight can be approximated by closed Euler elastica. We show several geometrical and dynamical properties of this polygonal chain such as curve length and configuration precession. In addition, it reveals that the rotation number of an unbroken polygonal chain is a geometric invariant when it converges to a stable formation.

元の言語英語
ホスト出版物のタイトル2016 IEEE 55th Conference on Decision and Control, CDC 2016
出版者Institute of Electrical and Electronics Engineers Inc.
ページ2561-2566
ページ数6
ISBN(電子版)9781509018376
DOI
出版物ステータス出版済み - 12 27 2016
イベント55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, 米国
継続期間: 12 12 201612 14 2016

出版物シリーズ

名前2016 IEEE 55th Conference on Decision and Control, CDC 2016

その他

その他55th IEEE Conference on Decision and Control, CDC 2016
米国
Las Vegas
期間12/12/1612/14/16

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

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  • これを引用

    Baryshnikov, Y., & Chen, C. (2016). Shapes of cyclic pursuit and their evolution. : 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 2561-2566). [7798648] (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798648