Coordinated Patterns on Smooth Curves
Fumin Zhang and Naomi Ehrich Leonard
Proceedings of the IEEE International Conference on Networking, Sensing and Control, 2006.
We show methods that control cooperative Newtonian particles to generate patterns on
smooth curves. The spacing between neighboring particles is measured by the relative arc-length and
the distance between a particle and the desired curve is measured using an orbit function. The orbit
value and the relative arc-length are then used as feedback to control the motion of each particle to
a pattern on the desired curve asymptotically. Possible applications of the methods to underwater mobile
sensor networks are discussed.
(592 KB pdf)
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