Stabilization of Planar Collective Motion with Limited Communication

Rodolphe Sepulchre, Derek Paley and Naomi Ehrich Leonard

IEEE Transactions on Automatic Control, Vol. 53, No. 3, April 2008, 706-719.
This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or time-varying. The emphasis of the paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework.

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