A pursuit strategy for wheeled-vehicle formations

Inspired by the so-called "bugs" problem from mathematics, we propose a cyclic pursuit strategy for multi-vehicle formations. A particular version of this pursuit problem is studied for a system of n wheeled vehicles, each subject to a single nonholonomic constraint, towards the achievement of certain trajectories in the plane. A full stability analysis is provided for the special case when n = 2 and it is revealed how the system's global behaviour can be shaped through appropriate controller gain assignments.