Journal
SYSTEMS & CONTROL LETTERS
Volume 57, Issue 3, Pages 209-215Publisher
ELSEVIER
DOI: 10.1016/j.sysconle.2007.08.005
Keywords
cooperative control; curvature; sensor networks; oscillators; Laplacian
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We provide a cooperative control algorithm to stabilize symmetric formations to motion around closed curves suitable for mobile sensor networks. This work extends previous results for stabilization of symmetric circular formations. We study a planar particle model with decentralized steering control subject to limited communication. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. We illustrate the result for a skewed superellipse, which is a type of curve that includes circles, ellipses, and rounded parallelograms. (C) 2007 Elsevier B.V. All rights reserved.
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