Stabilization of planar collective motion with limited communication

Rodolphe Sepulchre, Derek A. Paley, Naomi Ehrich Leonard

Research output: Contribution to journalArticlepeer-review

358 Scopus citations


This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or time-varying. The emphasis of this paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework.

Original languageEnglish (US)
Pages (from-to)706-719
Number of pages14
JournalIEEE Transactions on Automatic Control
Issue number3
StatePublished - Apr 2008
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


  • Cooperative control
  • Geometric control
  • Multi-agent systems
  • Stabilization


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