CUED Publications database

Stabilization of planar collective motion with limited communication

Sepulchre, R and Paley, DA and Leonard, NE (2008) Stabilization of planar collective motion with limited communication. IEEE Transactions on Automatic Control, 53. pp. 706-719. ISSN 0018-9286

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Abstract

This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or time-varying. The emphasis of this paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework. © 2008 IEEE.

Item Type: Article
Uncontrolled Keywords: Cooperative control Geometric control Multi-agent systems Stabilization
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:25
Last Modified: 22 Dec 2014 01:17
DOI: 10.1109/TAC.2008.919857