Collective motions and formations under pursuit strategies on directed acyclic graphs

Leader–follower formation via complex Laplacian

“…The inspiration is from Pavone and Frazzoli (2007);Ding et al (2009);Ren (2009);Ding et al (2010), where pursuit strategies with offset angles are investigated to exhibit more interesting collective motions. For a network of n interacting agents modeled as a directed graph, we represent a planar formation as an n-dimensional complex vector called the formation basis and introduce a complex Laplacian of the directed graph to characterize the planar formation.…”

Observer-Based Feedback Control for Stabilization of Collective Motion

“…Another method for creating collective motion utilized pursuit dynamics. In [3], this concept was examined whereby a leader particle performed a behavior and the others pursued the leader.…”

A distributed reconfigurable control law for escorting and patrolling missions using teams of unicycles

“…sin a , which is equivalent to (6). Moreover, we have to assure that |v i | ≤ v max and |ω i | ≤ ω max .…”

“…By far, most approaches rely on simple models (single integrators) [6], [8], [9], centralized schemes [2], [17], or the knowledge of global information in the presence of a common reference frame [7], [11]. On one hand, the approaches developed for single-integrator model ( [6], [8], [9]) have had limited success when applied to teams of unicycles due to nonlinearity and nonholonomic constraints which give rise to more challenges in control synthesis. On the other hand, the unicycle model is a common and practical model for mobile robots and unmanned aerial vehicles (UAVs).…”