CUED Publications database

Collective motion of self-propelled particles: Stabilizing symmetric formations on closed curves

Paley, DA and Leonard, NE and Sepulchre, RJ (2006) Collective motion of self-propelled particles: Stabilizing symmetric formations on closed curves. Proceedings of the IEEE Conference on Decision and Control. pp. 5067-5072. ISSN 0191-2216

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Abstract

We provide feedback control laws to stabilize formations of multiple, unit speed particles on smooth, convex, and closed curves with definite curvature. As in previous work we exploit an analogy with coupled phase oscillators to provide controls which isolate symmetric particle formations that are invariant to rigid translation of all the particles. In this work, we do not require all particles to be able to communicate; rather we assume that inter-particle communication is limited and can be modeled by a fixed, connected, and undirected graph. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. The methodology is demonstrated using a superellipse, which is a type of curve that includes circles, ellipses, and rounded rectangles. These results can be used in applications involving multiple autonomous vehicles that travel at constant speed around fixed beacons. ©2006 IEEE.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:25
Last Modified: 08 Dec 2014 02:23
DOI: