DocumentCode
2381166
Title
Formations on two-layer pursuit systems
Author
Ding, Wei ; Yan, Gangfeng ; Lin, Zhiyun
Author_Institution
Dept. of Syst. Sci. & Eng., Zhejiang Univ., Hangzhou, China
fYear
2009
fDate
12-17 May 2009
Firstpage
3496
Lastpage
3501
Abstract
The paper studies hierarchical pursuit strategies for groups of mobile agents in the plane. It is shown that fascinating global patterns emerge from simple two-layer pursuit schemes, including rendezvous, uniform circular motion, complex circular motion, concentric circular motion, and concentric logarithmic spiral motion. Both rigorous analysis and simulations are provided.
Keywords
mobile robots; motion control; multi-robot systems; complex circular motion; concentric circular motion; concentric logarithmic spiral motion; hierarchical pursuit strategies; mobile agents; rendezvous; rigorous analysis; two-layer pursuit systems; uniform circular motion; Analytical models; Biological system modeling; Communication system control; Laplace equations; Mobile agents; Robotics and automation; Robots; Spirals; Surveillance; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location
Kobe
ISSN
1050-4729
Print_ISBN
978-1-4244-2788-8
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2009.5152433
Filename
5152433
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