CUED Publications database

Stabilization of symmetric formations to motion around convex loops

Paley, DA and Leonard, NE and Sepulchre, R (2008) Stabilization of symmetric formations to motion around convex loops. Systems and Control Letters, 57. pp. 209-215. ISSN 0167-6911

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Abstract

We provide a cooperative control algorithm to stabilize symmetric formations to motion around closed curves suitable for mobile sensor networks. This work extends previous results for stabilization of symmetric circular formations. We study a planar particle model with decentralized steering control subject to limited communication. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. We illustrate the result for a skewed superellipse, which is a type of curve that includes circles, ellipses, and rounded parallelograms. © 2007 Elsevier B.V. All rights reserved.

Item Type: Article
Uncontrolled Keywords: Cooperative control Curvature Laplacian Oscillators Sensor networks
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:28
Last Modified: 08 Dec 2014 02:18
DOI: 10.1016/j.sysconle.2007.08.005