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Generalization of the Cyclic Pursuit Problem

Sinha, A and Ghose, D (2005) Generalization of the Cyclic Pursuit Problem. In: Proceedings of the 2005 American Control Conference, 2005, 8-10 June, USA, pp. 4997-5002.


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In this paper, some generalizations of the problem of formation 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 $n$. Each agent is subjected to a nonholonomic constraint. The necessary conditions for equilibrium formation to occur among a group of agents with different speeds and controller gains is discussed. These results generalize equal speed and equal controller gain results available in the literature.

Item Type: Conference Paper
Publisher: IEEE
Additional Information: ©1990 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 25 Aug 2008
Last Modified: 19 Sep 2010 04:21
URI: http://eprints.iisc.ac.in/id/eprint/4021

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