Deviated cyclic pursuit: stability and reachable sets for heterogeneous agents

What is it about?

Conventional homogeneous and heterogeneous cyclic pursuit have been widely studied in the literature. It is an ok problem known since the late nineteenth century. With the rise of interest in cooperative control this ok mathematical problem has been revisited by many of late. In our work we allow the agents in linear cyclic pursuit to not only have different gains but also different angles of deviation from the line of sight. We have derived stability results in both continuous and discrete time domains and investigated the reachable sets for such multi agent systems.

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Why is it important?

It sheds light on the effect of coupling between the controls along the x and y axis even within the linear point mass framework of cyclic pursuit and gives sufficient conditions for achieving consensus.