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Emergent formations of a Lagrangian swarm of unmanned ground vehicles

Kumar, Sandeep and Vanualailai, Jito and Sharma, Bibhya N. and Chaudhary, Atin and Kapadia, Vimi (2016) Emergent formations of a Lagrangian swarm of unmanned ground vehicles. [Conference Proceedings]

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Abstract

In this paper, we present a Lagrangian swarm model that shows emergent formations of multiple autonomous unmanned ground vehicles (UGVs). The Direct Method of Lyapunov is used to construct the instantaneous velocity of each individual in the swarm. The velocity controllers ensure the cohesion and therefore the stability of the swarm. Via computer simulations, we illustrate self-organizations such as concentric circular and concentric elliptic formations.

Item Type: Conference Proceedings
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Fulori Nainoca
Date Deposited: 14 Feb 2017 15:44
Last Modified: 14 Feb 2017 15:44
URI: http://repository.usp.ac.fj/id/eprint/9601
UNSPECIFIED

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