Title :
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
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;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7172080
