CUED Publications database

Collective motion: Bistability and trajectory tracking

Paley, D and Leonard, NE and Sepulchre, R (2004) Collective motion: Bistability and trajectory tracking. In: UNSPECIFIED pp. 1932-1937..

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This paper presents analysis and application of steering control laws for a network of self-propelled, planar particles. We explore together the two stably controlled group motions, parallel motion and circular motion, for modeling and design purposes. We show that a previously considered control law simultaneously stabilizes both parallel and circular group motion, leading to Instability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:21
Last Modified: 02 Sep 2021 04:52
DOI: 10.1109/cdc.2004.1430330