{"title":"Collective motion: bistability and trajectory tracking","authors":"D. Paley, Naomi Ehrich Leonard, R. Sepulchre","doi":"10.1109/CDC.2004.1430330","DOIUrl":null,"url":null,"abstract":"This paper presents analysis and application of steering control laws for a network of self-propelled, planar particles. We explore together the two stably controlled group motions, parallel motion and circular motion, for modeling and design purposes. We show that a previously considered control law simultaneously stabilizes both parallel and circular group motion, leading to bistability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.","PeriodicalId":254457,"journal":{"name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"76","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.2004.1430330","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 76
Abstract
This paper presents analysis and application of steering control laws for a network of self-propelled, planar particles. We explore together the two stably controlled group motions, parallel motion and circular motion, for modeling and design purposes. We show that a previously considered control law simultaneously stabilizes both parallel and circular group motion, leading to bistability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.
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