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]
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