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- W1976767610 abstract "We provide a Lyapunov-based design of decentralized control laws that stabilize relative equilibria in a model of self-propelled particles that travel on the surface of a sphere. Such control laws have applications in planetary-scale mobile sensing networks in air, sea, and space. Relative equilibria of the closed-loop model include formations in which all of the particles travel around a common circular trajectory. Particle interaction can be time-invariant or time-varying and directed or undirected. The algorithm for time-invariant and undirected particle interaction uses a gradient-like control induced from the associated Laplacian matrix. The algorithm for time-varying and directed interaction replaces average quantities in the control law with dynamic consensus variables. An augmented Laplacian algorithm is also proposed to stabilize symmetric circular formations." @default.
- W1976767610 created "2016-06-24" @default.
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- W1976767610 date "2009-01-01" @default.
- W1976767610 modified "2023-09-23" @default.
- W1976767610 title "Stabilization of collective motion on a sphere" @default.
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- W1976767610 doi "https://doi.org/10.1016/j.automatica.2008.06.012" @default.
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