Coordinated patterns of unit speed particles on a closed curve

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We present methods to stabilize a class of motion patterns for unit speed particles in the plane. From their initial positions within a compact set in the plane, all particles converge to travel along a closed curve. The relative distance between each pair of particles along the curve is measured using the relative arc-length between the particles. These distances are controlled to converge to constant values.

Original languageEnglish (US)
Pages (from-to)397-407
Number of pages11
JournalSystems and Control Letters
Issue number6
StatePublished - Jun 2007
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • General Computer Science
  • Mechanical Engineering
  • Electrical and Electronic Engineering


  • Cooperative control
  • Formation
  • Gyroscopic control
  • Oscillator
  • Pattern
  • Swarm
  • Tracking

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