Nonlinear dynamics of unicycles in leader–follower formation

In this paper, a dynamical systems analysis is presented for characterizing the motion of a group of unicycles in leader–follower formation. The equilibrium formations are characterized along with their local stability analysis. It is demonstrated that with the variation in control gain, the collective dynamics might undergo Andronov–Hopf and Fold–Hopf bifurcations. The vigor of quasi-periodicity in the regime of Andronov–Hopf bifurcation and heteroclinic bursts between quasi-periodic and chaotic behavior in the regime of Fold–Hopf bifurcation increases with the number of unicycles. Numerical simulations also suggest the occurrence of global bifurcations involving the destruction of heteroclinic orbit.