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.

(6 pages pdf)
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