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AUTOMATICA
2005

A hierarchical cyclic pursuit scheme for vehicle networks

13 years 3 months ago
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.
Stephen L. Smith, Mireille E. Broucke, Bruce A. Fr
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2005
Where AUTOMATICA
Authors Stephen L. Smith, Mireille E. Broucke, Bruce A. Francis
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