2023
DOI: 10.1109/access.2023.3339195
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Graphical and Analytical Approaches for Analyzing Collective Behavior of Dynamic Multi-Agent Systems Governed by Generalized Cyclic Pursuit Mechanism

Taeheon Kwak,
Yeongjae Kim,
Yutaka Hori
et al.

Abstract: In this study, we use graphical and analytical methods to study the collective behavior of a swarm of dynamic agents controlled by the generalized cyclic pursuit (GCP) scheme. The proposed graphical approach reveals the occurrence mechanisms of various formation patterns in terms of agents' dynamics and tuning parameters of the GCP scheme, including the rendezvous, diverging spirals, circular pattern, and spirograph-like patterns. Then, we develop an analytical tool to obtain the crucial information needed to … Show more

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