On the Trajectories and Coordination of Steered Particles with Time-Periodic Speed Profiles
Daniel T. Swain and Naomi Ehrich Leonard Proceedings of the 2009
American Control Conference,
St. Louis, MO, 2009.
Motivated by observations of fish and possibilities for mobile robotics,
we study collective motion of networks of agents that move with periodically time-varying
speed. Each agent is modeled as a particle with constant turning rate and time-periodic
speed profile at steady state. Expressions are derived for the trajectories of such
particles, emphasizing the variation from the constant-speed circular orbit. We show
that trajectories remain bounded if the speed profile contains no frequency content at
the turning rate. Steering and speed control laws are derived that stabilize a rich
family of collective motion patterns of a many-particle system about a common center
point, where headings and speed phases are coordinated.
(592 KB pdf)
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