A pursuit strategy for wheeled-vehicle formations

J.A. Marshall, M.E. Broucke, B.A. Francis
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)  
Inspired by the so-called "bugs" problem from mathematics, we propose a cyclic pursuit strategy for multivehicle formations. A particular version of this pursuit problem is studied for a system of n wheeled vehicles, each subject to a single nonholonomic constraint, towards the achievement of certain trajectories in the plane. A full stability analysis is provided for the special case when n = 2 and it is revealed how the system's global behaviour can be shaped through appropriate controller gain assignments.
doi:10.1109/cdc.2003.1273006 fatcat:v7qg5m3uwvfmbj5czrln6jj3ii