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

Content Provider	IEEE Xplore Digital Library
Author	Swain, D.T. Leonard, N.E.
Copyright Year	2009
Description	Author affiliation: Mechanical and Aerospace Engineering Department, Princeton University, NJ 08544 USA (Swain, D.T.; Leonard, N.E.)
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.
Starting Page	1286
Ending Page	1291
File Size	397863
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160472
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Marine animals Mobile robots Motion control Robot kinematics Steady-state Educational institutions Turning Velocity control Vehicle dynamics Aerodynamics
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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