Guidance of Agents in Cyclic Pursuit

by   Ilana Segall, et al.

This report studies the emergent behavior of systems of agents performing cyclic pursuit controlled by an external broadcast signal detected by a random set of the agents. Two types of cyclic pursuit are analyzed: 1)linear cyclic pursuit, where each agent senses the relative position of its target or leading agent 2)non-linear cyclic pursuit, where the agents can sense only bearing to their leading agent and colliding agents merge and continue on the path of the pursued agent (a so-called "bugs" model). Cyclic pursuit is, in both cases, a gathering algorithm, which has been previously analyzed. The novelty of our work is the derivation of emergent behaviours, in both linear and non-linear cyclic pursuit, in the presence of an exogenous broadcast control detected by a random subset of agents. We show that the emergent behavior of the swarm depends on the type of cyclic pursuit. In the linear case, the agents asymptotically align in the desired direction and move with a common speed which is a proportional to the ratio of the number of agents detecting the broadcast control to the total number of agents in the swarm, for any magnitude of input (velocity) signal. In the non-linear case, the agents gather and move with a shared velocity, which equals the input velocity signal, independently of the number of agents detecting the broadcast signal.


page 1

page 2

page 3

page 4


Broadcast Guidance of Agents in Deviated Linear Cyclic Pursuit

In this report we show the emergent behavior of a group of agents, order...

Finite-time Heterogeneous Cyclic Pursuit with Application to Target Interception

This paper presents a finite-time heterogeneous cyclic pursuit scheme th...

On Steering Swarms

The main contribution of this paper is a novel method allowing an extern...

Hierarchical Cyclic Pursuit: Algebraic Curves Containing the Laplacian Spectra

The paper addresses the problem of multi-agent communication in networks...

Beacon-referenced Pursuit for Collective Motions in Three Dimensions

Motivated by real-world applications of unmanned aerial vehicles, this p...

Optimal Disturbance Attenuation Approach with Measurement Feedback to Missile Guidance

Pursuit-evasion differential games using the Disturbance Attenuation app...

Search for Smart Evaders with Swarms of Sweeping Agents

Suppose that in a given planar circular region, there are some smart mob...

Please sign up or login with your details

Forgot password? Click here to reset