Brief paper: Generalization of nonlinear cyclic pursuit

Authors:
A. Sinha;D. Ghose
Affiliations:
GCDSL, Department of Aerospace Engineering, Indian Institute of Science, Bangalore, India;GCDSL, Department of Aerospace Engineering, Indian Institute of Science, Bangalore, India
Venue:
Automatica (Journal of IFAC)
Year:
2007

Citing 3
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Abstract

In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under nonlinear 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. A necessary condition for equilibrium formation to occur among a group of agents with different speeds and different controller gains is obtained. These results generalize equal speed and equal controller gain results available in the literature.