Geometry of Cyclic Pursuit

Abstract

Pursuit strategies (formulated using constant-speed particle models) provide a means for achieving cohesive behavior in systems of multiple mobile agents. In the present paper, we explore an n-agent cyclic pursuit scheme (i.e. agent i pursues agent i+1, modulo n) in which each agent employs a constant bearing pursuit strategy. We demonstrate the existence of an invariant submanifold, and state necessary and sufficient conditions for the existence of rectilinear and circling relative equilibria on that submanifold. We present a full analysis of steady-state solutions and stability characteristics for two-particle "mutual CB pursuit" and then outline steps to extend the nonlinear stability analysis to the many particle case.

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Document Details

Document Type
Technical Report
Publication Date
Dec 18, 2009
Accession Number
ADA520255

Entities

People

  • Eric W. Justh
  • Kevin S Galloway
  • P.S.Krishnaprasad

Organizations

  • University of Maryland

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Birds
  • Camouflage
  • Circular Orbits
  • Computational Neuroscience
  • Convergence
  • Dynamics
  • Equations
  • Feedback
  • Geometry
  • Lyapunov Functions
  • Military Research
  • Shape
  • Simulations
  • Steady State
  • Three Dimensional
  • Universities
  • Unmanned Vehicles

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Control Systems Engineering.
  • Plasma Physics / Magnetohydrodynamics