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Behaviour of autonomous mobile agents using linear cyclic pursuit laws

Sinha, A and Ghose, Debasish (2006) Behaviour of autonomous mobile agents using linear cyclic pursuit laws. In: American Control Conference 2006, June 14-16, 2006, Minneapolis, pp. 4963-4968.

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In this paper, the behaviour of a group of autonomous mobile agents under cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent i pursues agent i + 1 modulo n.. The equations of motion are linear, with no kinematic constraints on motion. Behaviourally, the agents are identical, but may have different controller gains. We generalize existing results in the literature and show that by selecting these gains, the behavior of the agents can be controlled. They can be made to converge at a point or be directed to move in a straight line. The invariance of the point of convergence with the sequence of pursuit is also shown.

Item Type: Conference Paper
Publisher: Institute of Electrical and Electronics Engineers
Additional Information: Copyright of this article belongs to Institute of Electrical and Electronics Engineers.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 05 Aug 2010 10:06
Last Modified: 19 Sep 2010 06:12
URI: http://eprints.iisc.ac.in/id/eprint/30695

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