Group Coordination and Cooperative Control of Steered Particles in the Plane

Rodolphe Sepulchre, Derek A. Paley and Naomi Ehrich Leonard

In Group Coordination and Cooperative Control, K.Y. Pettersen, J.T. Gravdahl and H. Nijmeijer, Eds., Lecture Notes in Control and Information Sciences, Springer-Verlag, London, Vol. 336, pp. 217-232, 2006.
The paper overviews recent and ongoing efforts by the authors to develop a design methodology to stabilize isolated relative equilibria in a kinematic model of identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or to circular motion of all particles about the same center with fixed relative headings.

(680 KB pdf)
Back to home page