Generalization of nonlinear cyclic pursuit

Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

“…The objective was to grasp the target with a team of robots, to enclose the target at a pre-specified distance from it, to uniformly distribute the robots around the target, and to subsequently escort the target, with maintaining the distances both to the target and between the robots. In contrast with the majority of relevant algorithms available in the literature (see, e.g., [47,48,49,50,28,51,43,52,53,54,32,55,56,57,58,29,44,59,60,61,62] for representative samples; a detailed literature overview is available in [30,62]), angular data about the target are not available to the robots, and the objective should be achieved based on only range measurements. Range-only based navigation is of interest for many applications since it carries a potential both for reduction of the cost and complexity of the hardware and for increase of the system reliability [63,64,39].…”

Generalized hierarchical cyclic pursuit

“…1), and has attracted the attention of many researchers (Juang, 2012;Kim & Sugie, 2007;Ma & Hovakimyan, 2013;Marshall, Broucke, & Francis, 2004Ren, Beard, & Atkins, 2005;Sinha & Ghose, 2007). The vectors in Fig.…”

Geometry of cyclic pursuit

“…In [10], the authors extend their analysis to incorporate feedback control of the vehicle speeds as well, presenting a global stability analysis for the two-particle case and a local stability analysis for the general case. In [14], Sinha and Ghose present a generalization of this previous work which involves heterogeneous formations of agents with differing speeds as well as differing controller gains. Variations on the theme are presented in [15] (a hierarchical cyclic pursuit scheme), [16] (with applications to rendezvous problems and curve-shortening), and [12] (with applications to coverage).…”