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Lyapunov functions for a planar swarm model with application to nonholonomic planar vehicles

Kumar, Sandeep and Vanualailai, Jito and Sharma, Bibhya N. (2015) Lyapunov functions for a planar swarm model with application to nonholonomic planar vehicles. [Conference Proceedings]

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    Abstract

    This research presents a Lagrangian swarm model for the control of a planar swarm model that has a target. The Direct Method of Lyapunov is used to ensure cohesion of the swarm and stability at the target point. The model proposed can address obstacle-free and obstacle-cluttered environments. Emergent patterns such as split/rejoin, tunnelling maneuver and emergent leader are some of the achievable results, which we apply to nonholonomic planar vehicles.

    Item Type: Conference Proceedings
    Additional Information: DOI: 10.1109/CCA.2015.7320890
    Subjects: Q Science > Q Science (General)
    Q Science > QA Mathematics
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Bibhya Sharma
    Date Deposited: 30 Aug 2016 16:10
    Last Modified: 15 Sep 2017 13:01
    URI: http://repository.usp.ac.fj/id/eprint/9210
    UNSPECIFIED

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