Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
A hybrid control approach to cooperative target tracking with multiple mobile robots
ACC'09 Proceedings of the 2009 conference on American Control Conference
Experimental validation of collective circular motion for nonholonomic multi-vehicle systems
Robotics and Autonomous Systems
Vector fields for robot navigation along time-varying curves in n-dimensions
IEEE Transactions on Robotics
No-beacon collective circular motion of jointly connected multi-agents
Automatica (Journal of IFAC)
A remark on collective circular motion of heterogeneous multi-agents
Automatica (Journal of IFAC)
Hi-index | 22.17 |
This paper addresses a collective motion problem for a multi-agent system composed of nonholonomic vehicles. The aim of the vehicles is to achieve circular motion around a virtual reference beacon. A control law is proposed, which guarantees global asymptotic stability of the circular motion with a prescribed direction of rotation, in the case of a single vehicle. Equilibrium configurations of the multi-vehicle system are studied and sufficient conditions for their local stability are given, in terms of the control law design parameters. Practical issues related to sensory limitations are taken into account. The transient behavior of the multi-vehicle system is analyzed via numerical simulations.