Stabilization of Planar Collective Motion With Limited Communication
Sepulchre, R.; Paley, D.A.; Leonard, N.E.
Automatic Control, IEEE Transactions on
Volume 53, Issue 3, April 2008 Page(s):706 - 719
Digital Object Identifier   10.1109/TAC.2008.919857
Summary: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.

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