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

Kumar, Sandeep A. 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 04:10
Last Modified:	28 Jun 2021 03:35
URI:	http://repository.usp.ac.fj/id/eprint/9210

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