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The study on collective circular motion has attracted researchers over the past years. Many control algorithms have been successfully developed for achieving various circular motion patterns. However, the existing algorithms rely on more or less global information including a reference beacon, a common reference frame, agent labels, or agent homogeneity. In this paper, an improved algorithm is proposed...
In this paper, a decentralized control algorithm is proposed for a group of nonholonomic vehicles to form a class of collective circular motion behavior. Without the guidance of a global beacon, the desired collective behavior occurs provided that the multi-agent system is jointly connected. Moreover, a repulsion mechanism is considered to improve the distribution evenness of the agents’ circular...
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