Formations of vehicles in cyclic pursuit

@article{Marshall2004FormationsOV,
  title={Formations of vehicles in cyclic pursuit},
  author={Joshua A. Marshall and Mireille E. Broucke and Bruce A. Francis},
  journal={IEEE Transactions on Automatic Control},
  year={2004},
  volume={49},
  pages={1963-1974}
}
Inspired by the so-called "bugs" problem from mathematics, we study the geometric formations of multivehicle systems under cyclic pursuit. First, we introduce the notion of cyclic pursuit by examining a system of identical linear agents in the plane. This idea is then extended to a system of wheeled vehicles, each subject to a single nonholonomic constraint (i.e., unicycles), which is the principal focus of this paper. The pursuit framework is particularly simple in that the n identical… CONTINUE READING
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