On the trajectories and coordination of steered particles with time-periodic speed profiles

Daniel T. Swain, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Motivated by observations of fish and possibilities for mobile robotics, we study collective motion of networks of agents that move with periodically time-varying speed. Each agent is modeled as a particle with constant turning rate and time-periodic speed profile at steady state. Expressions are derived for the trajectories of such particles, emphasizing the variation from the constant-speed circular orbit. We show that trajectories remain bounded if the speed profile contains no frequency content at the turning rate. Steering and speed control laws are derived that stabilize a rich family of collective motion patterns of a many-particle system about a common center point, where headings and speed phases are coordinated.

Original languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Pages1286-1291
Number of pages6
DOIs
StatePublished - Nov 23 2009
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period6/10/096/12/09

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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