Station keeping through beacon-referenced cyclic pursuit

Author

Galloway, Kevin S. ; Dey, Biswadip

Author_Institution

Electr. & Comput. Eng. Dept., United States Naval Acad., Annapolis, MD, USA

fYear

2015

fDate

1-3 July 2015

Firstpage

4765

Lastpage

4770

Abstract

This paper investigates a modification of cyclic CB pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the beacon, with the circling radius and angular separation of agents determined by choice of parameters in the feedback law. Stability of circling shape equilibria is shown for a 2-agent system, and the results are demonstrated on a collective of mobile robots tracked by a motion capture system.

Keywords

decentralised control; feedback; mobile robots; motion control; multi-robot systems; stability; 2-agent system; angular separation; beacon-referenced cyclic pursuit; circling radius; circling shape equilibria; collective circling; collective mobile robots; cyclic CB pursuit; decentralized control; feedback law; motion capture system; multiagent system; stability; station keeping; Eigenvalues and eigenfunctions; Mathematical model; Multi-agent systems; Robots; Shape; Stability criteria; Cyclic pursuit; Decentralized control; Multi-agent systems; Robot motion;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2015

Conference_Location

Chicago, IL

Print_ISBN

978-1-4799-8685-9

Type

conf

DOI

10.1109/ACC.2015.7172080

Filename

7172080