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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Official URL: http://ieeexplore.ieee.org/document/7320890/?denie...
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 |
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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: | https://repository.usp.ac.fj/id/eprint/9210 |
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