Torus problems in jointly-connected no-beacon networks

In this paper, a decentralized control algorithm is proposed for a group of nonholonomic vehicles to form a class of collective circular motion behavior. Without the guidance of a global position reference or a beacon, the desired collective behavior occurs provided that the multi-agent system is jointly-connected. Moreover, a repulsion mechanism is considered to improve the distribution evenness of the agents´ circular motion phases and hence to avoid collision. The effectiveness of the approach is verified through both theoretical analysis and numerical simulation.