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Collective circular motion of unicycle-type vehicles with non-identical fixed velocities

Seyboth, Georg S.; Wu, Jingbo; Qin, Jiahu; Yu, Changbin (Brad); Allgower, Frank


This paper addresses formation control problems for heterogeneous groups of unicycle type mobile agents with fixed cruising speed. The heterogeneity in the group is caused by the cruising speeds being nonidentical, which complicates the motion coordination problem but is of practical relevance, for example, in unmanned aerial vehicle applications. We show that two different types of collective circular motion are possible in such groups: 1) a circular motion with common angular frequency and...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Journal article
Source: IEEE Transactions on Control Systems Technology
DOI: 10.1109/TCNS.2014.2316995


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