Circular Formation Maintenance under Single Integrator Generalized Cyclic Pursuit

The paper considers the problem of maintaining the circular motion of a group of agents under Generalized Cyclic Pursuit (GCP) law, which exploits the property of imaginary-axis poles to achieve a sustainable cyclic movement. However, the system is not robust against model uncertainties. The objective of the paper is to present a method to sustain the motion of the group of agents under this law on a desired circle. Emphasis is placed upon the robustness of the system via an adaptive Line of Sight (L.o.S) angle, as well as formation preservation.