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- W2076421127 abstract "We study a multi-agent cyclic pursuit model where each of the identical agents moves like a Dubins car and maintains a fixed heading angle with respect to the next agent. We establish that stationary shapes for this system are regular polygons. We derive a sufficient condition for local convergence to such regular polygon formations, which takes the form of an inequality connecting the angles of the regular polygon with the heading angle of the agents. A block-circulant structure of the system's linearization matrix in suitable coordinates facilitates and elucidates our analysis. Our results are complementary to the conditions for rendezvous obtained in earlier work [Yu et al., IEEE Trans. Autom. Contr., Feb. 2012]." @default.
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- W2076421127 date "2014-12-01" @default.
- W2076421127 modified "2023-09-25" @default.
- W2076421127 title "Cyclic pursuit without coordinates: Convergence to regular polygon formations" @default.
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- W2076421127 doi "https://doi.org/10.1109/cdc.2014.7040359" @default.
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