Collective motion: Bistability and trajectory tracking

Derek Paley; Naomi Ehrich Leonard; Rodolphe Sepulchre

doi:10.1109/cdc.2004.1430330

Collective motion: Bistability and trajectory tracking

Derek Paley, Naomi Ehrich Leonard, Rodolphe Sepulchre

Research output: Contribution to journal › Conference article › peer-review

54 Scopus citations

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 Instability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.

Original language	English (US)
Article number	WeB03.4
Pages (from-to)	1932-1937
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	2
DOIs	https://doi.org/10.1109/cdc.2004.1430330
State	Published - 2004
Externally published	Yes
Event	2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas Duration: Dec 14 2004 → Dec 17 2004

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/cdc.2004.1430330

Cite this

@article{6613eba4711d460690947a8810b6e89a,

title = "Collective motion: Bistability and trajectory tracking",

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 Instability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.",

author = "Derek Paley and Leonard, {Naomi Ehrich} and Rodolphe Sepulchre",

year = "2004",

doi = "10.1109/cdc.2004.1430330",

language = "English (US)",

volume = "2",

pages = "1932--1937",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0743-1546",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2004 43rd IEEE Conference on Decision and Control (CDC) ; Conference date: 14-12-2004 Through 17-12-2004",

}

TY - JOUR

T1 - Collective motion

T2 - 2004 43rd IEEE Conference on Decision and Control (CDC)

AU - Paley, Derek

AU - Leonard, Naomi Ehrich

AU - Sepulchre, Rodolphe

PY - 2004

Y1 - 2004

N2 - 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 Instability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.

AB - 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 Instability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.

UR - http://www.scopus.com/inward/record.url?scp=14344259560&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=14344259560&partnerID=8YFLogxK

U2 - 10.1109/cdc.2004.1430330

DO - 10.1109/cdc.2004.1430330

M3 - Conference article

AN - SCOPUS:14344259560

SN - 0743-1546

VL - 2

SP - 1932

EP - 1937

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

M1 - WeB03.4

Y2 - 14 December 2004 through 17 December 2004

ER -

Collective motion: Bistability and trajectory tracking

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this