Cyclic Pursuit or “the Three Bugs Problem”

Effects of competitive prey capture on flight behavior and sonar beam pattern in paired big brown bats,Eptesicus fuscus

“…Two flight control strategies, classical pursuit (CP) and CATD, are examined here as possible strategies the bat may use to interact with another bat. The CP strategy refers to a configuration in which one animal always points its velocity vector towards the position of a target animal (Klamkin and Newman, 1971;Wei et al, 2009). When bats exhibit CATD, the lines jointing the two animals' flight trajectories are parallel at any time, and hence the angle between the conspecific and a fixed reference is constant .…”

Geometry of cyclic pursuit

“…Remark: The classical work on cyclic pursuit (e.g., as in [8]), and the more recent work of Bruckstein et al [2] and Richardson [13], presuppose that the CP strategy is exactly realized (with no reference to a feedback law). On the other hand, [10] is based on a linear feedback law motivated by the CP strategy.…”

“…(See [8] and [13] respectively.) Recently, there has been a renewed interest in studying cyclic pursuit from a controltheoretic perspective, particularly for decentralized control of groups of autonomous agents.…”

Boundary tracking using a hybrid cyclic pursuit scheme

“…The cyclic pursuit problem, which derives its roots from the classical n-bugs problem, [1] has been at the heart of research related to multi-agent systems for decades. The main attraction of the cyclic pursuit paradigm lies in the fact that it is the simplest graph requiring minimum communication to maintain connectivity.…”