Collective Motion: Bistability and Trajectory Tracking
Derek Paley, Naomi Ehrich Leonard and Rodolphe Sepulchre
Proc. 43rd IEEE Conference on Decision and Control,
2004, p.1932-1937.
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 bistability
and hysteresis. We also present behavior primitives that enable
piecewise-linear network trajectory tracking.