Collective motion: Bistability and trajectory tracking

Derek Paley, Naomi Ehrich Leonard, Rodolphe Sepulchre

Research output: Contribution to journalConference articlepeer-review

54 Scopus citations


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 languageEnglish (US)
Article numberWeB03.4
Pages (from-to)1932-1937
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2004
Externally publishedYes
Event2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
Duration: Dec 14 2004Dec 17 2004

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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