We provide a cooperative control algorithm to stabilize symmetric formations to motion around closed curves suitable for mobile sensor networks. This work extends previous results for stabilization of symmetric circular formations. We study a planar particle model with decentralized steering control subject to limited communication. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. We illustrate the result for a skewed superellipse, which is a type of curve that includes circles, ellipses, and rounded parallelograms.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science(all)
- Mechanical Engineering
- Electrical and Electronic Engineering
- Cooperative control
- Sensor networks