{"title":"集体运动:双稳定性和轨迹跟踪","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":"{\"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}","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}
Collective motion: bistability and trajectory tracking
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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