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Generalization of nonlinear cyclic pursuit

Sinha, A and Ghose, D (2007) Generalization of nonlinear cyclic pursuit. In: Automatica, 43 (11). pp. 1954-1960.

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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.

Item Type: Journal Article
Publication: Automatica
Publisher: Elsevier
Additional Information: Copyright of this article belongs to Elsevier.
Keywords: Autonomous system;Multi-vehicle formations;Cooperative control;Pursuit problems;Decentralized control;Nonlinear dynamical systems.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 16 Sep 2008 10:16
Last Modified: 19 Sep 2010 04:49
URI: http://eprints.iisc.ac.in/id/eprint/15753

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