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
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;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152433
