A hierarchical cyclic pursuit scheme for vehicle networks

The agreement problem is studied whereby a group of mobile agents achieves convergence to a common point. A hierarchical cyclic pursuit scheme is introduced, and it is shown that this scheme yields a very significant increase in the rate of convergence to a common point when compared to traditional cyclic pursuit. A second scheme is introduced in which there are more communication links between vehicles. It is shown that this scheme produces a rate of convergence greater than the traditional scheme but significantly less than the hierarchical scheme. Key words: Autonomous vehicles; hierarchies; cooperative control; multi-agent systems.

• Type: Journal
• Year: 2005
• Where: AUTOMATICA
• Authors: Stephen L. Smith, Mireille E. Broucke, Bruce A. Francis
• Keywords: AUTOMATICA 2005, Common Point, Cyclic Pursuit, Cyclic Pursuit Scheme