Generalization of the cyclic pursuit problem

A. Sinha, D. Ghose
Proceedings of the 2005, American Control Conference, 2005.  
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.
doi:10.1109/acc.2005.1470799 fatcat:5awfnsm4orckjjmsy7rx2ruz6e