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Generalized hierarchical cyclic pursuit

Mukherjee, Dwaipayan and Ghose, Debasish (2016) Generalized hierarchical cyclic pursuit. In: AUTOMATICA, 71 . pp. 318-323.

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Official URL: http://dx.doi.org/10.1016/j.automatica.2016.05.023


Cyclic pursuit has been an important connection topology in multi-agent systems. Many variants of the classical cyclic pursuit law have been analysed by researchers. Among these variants are homogeneous and heterogeneous cyclic pursuit, or single layer and hierarchical cyclic pursuit. In this paper hierarchical cyclic pursuit, with heterogeneous gains, has been considered. This paper generalizes existing results by allowing both heterogeneity in the gains, and extension of the single layer information flow graph to a multi-layer hierarchical structure. Some new results are presented about the reachability of agents in hierarchical cyclic pursuit. It is shown that the existing results may be obtained as special cases of the results obtained in this paper. Simulation results are provided to support the theoretical findings. (C) 2016 Elsevier Ltd. All rights reserved.

Item Type: Journal Article
Publication: AUTOMATICA
Additional Information: Copy right for this article belongs to the PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 22 Oct 2016 05:50
Last Modified: 22 Oct 2016 05:50
URI: http://eprints.iisc.ac.in/id/eprint/54643

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