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1、1416IEEETRANSACTIONSONCONTROLSYSTEMSTECHNOLOGY,VOL.21,NO.4,JULY2013ApplicationsofCollectiveCircularMotionControltoMultirobotSystemsHai-TaoZhang,ZhiyongChen,LongYan,andWenwuYuAbstract—Collectivecircularmotioniscommoninbothworkontorusmechanismwasgivenin[12]byconsideringnaturalsystemsandeng
2、ineeringapplications.Recenttheoret-avirtualreferencebeacon.Alongthisline,manycontrolicalresearchhasintensivelystudiedthefundamentalcontrolalgorithmsweredevelopedforthestablecircularmotionofmechanism.Thisbriefaimstopavethewayfromtheoreticalmultivehiclesystems,e.g.,[13]and[14].Later,thecir
3、culardesigntopracticalimplementationbyaddressingasetofissuesencounteredinrealapplications.Asaresult,apracticallyeffec-motionofsymmetricandcyclicpursuitpatternswasstudiedtivecontrolalgorithmissuccessfullyimplementedandexaminedin[15]and[16],respectively.However,thestrategiesrequireforamult
4、irobotsystemtoachieveadesiredcircularformation.individualstobelabeled,whichisnotacommonsettingIndexTerms—Collectivecircularmotions,decentralizedinmanyengineeringapplications.Recently,Ceccarellietal.control,multiagentsystems(MASs),nonholonomicvehicles.[17]consideredsensorylimitationsandde
5、signedacollectivemotioncontrolmethodforanMASaroundavirtualreferenceI.INTRODUCTIONbeacon.Morerecently,toremovetherelianceonareferencebeacon,theauthorsofthisbriefproposedaleader-freeno-NEOFTHEmostremarkablecharacteristicsofcom-beacondecentralizedalgorithmforgeneratingacollectiveOplexmultia
6、gentsystems(MASs)istheemergenceofcircularmotionbehavior[18].Itwasshownthatastablecollectivelyorderedstates[1][7].Amongthemanycollectivetorusemergesundercertainuniformlyandjointlyconnectedbehaviors,thereisakindofcollectivecircularmotion,orconditions.torus,examplesofwhichcanbefoundinvariou
7、snaturalInourpreviouswork[18],thetheoreticalfoundationonsystems,suchasforagingantsaroundapieceofrice,aaclassofcollectivecircularmotioncontrollershasbeenswirlinggrowingepiphytecolony,andafishschoolescapinglaid.Themainobjectiveofthisbriefistoproceedfrominpanicaroundapredator
