Pursuit formations of unicycles
Pursuit formations of unicycles
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DOI：
10.1016/j.automatica.2005.08.001
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发表时间：
2006-01-01
期刊：
影响因子：
6.4
通讯作者：
Francis, BA
中科院分区：
文献类型：
--
作者：
Marshall, JA;Broucke, ME;Francis, BA
本文详细研究了多个单车系统在循环追逐中平衡队形的稳定性。循环追逐设置特别简单，因为每个独轮车i只追逐另一辆独轮车，独轮车i+1(模n)，其中n是独轮车的数量。这项研究的主要动机是在数学和科学文献中发现的追寻问题的历史发展，这可以追溯到1732年，但仍然是现在的兴趣。另一方面，预计与这些问题有关的分析技术和解决方案将被证明与多智能体系统的研究和协作控制工程有关。(C)2005爱思唯尔有限公司。保留所有权利。
In this paper, the stability of equilibrium formations for multiple unicycle systems in cyclic pursuit is studied in detail. The cyclic pursuit setup is particularly simple in that each unicycle i pursues only one other unicycle, unicycle i + 1 (modulo n), where n is the number of unicycles. This research is principally motivated by the historical development of pursuit problems found in the mathematics and science literature, which dates as far back as 1732 and yet continues to be of current interest. On the other hand, it is anticipated that the analytical techniques and solutions pertaining to these problems will prove relevant to the study of multiagent systems and in cooperative control engineering. (c) 2005 Elsevier Ltd. All rights reserved.