Non-mutual captures in cyclic pursuit
Annals of Mathematics and Artificial Intelligence
Stable polygons of cyclic pursuit
Annals of Mathematics and Artificial Intelligence
Brief paper: Generalization of nonlinear cyclic pursuit
Automatica (Journal of IFAC)
Distributed Control and Analysis of Coupled Cell Systems
Distributed Control and Analysis of Coupled Cell Systems
Decentralized overlapping control of a formation of unmanned aerial vehicles
Automatica (Journal of IFAC)
Brief A hierarchical cyclic pursuit scheme for vehicle networks
Automatica (Journal of IFAC)
Pursuit formations of unicycles
Automatica (Journal of IFAC)
A cooperative pursuit-evasion game in wireless sensor and actor networks
Journal of Parallel and Distributed Computing
Hi-index | 22.14 |
In cyclic pursuit a platoon of vehicles are coupled in a unidirectional ring at the interaction level according to some control scheme. In the paper, a new cyclic pursuit control law is proposed, where each vehicle's linear speed and angular speed are proportional to the projection of its prey's position on its forward direction and lateral direction respectively. Through these interactions a cooperative behavior emerges and vehicles in the platoon eventually move at a constant speed on a circle with constant inter-vehicle spacings. The control scheme ensures ultimate boundedness and leads to only two stable equilibrium polygons. This contrasts with other cyclic pursuit control schemes, where vehicles may diverge to infinity and there are more stable equilibrium polygons as the total number of vehicles increases. For this control scheme, ultimate boundedness is proved using the pseudo-linearization technique. Possible equilibrium polygons are analyzed and stability and convergence properties are established through root locus analysis of a complex characteristic polynomial. Design rules are discussed, showing how the radius of the circle they converge to is controlled by an appropriate choice of control parameters.