Balancing cyclic pursuit using proximity sensors with limited range

摘要: Abstract We propose a decentralized and non cooperative algorithm for estimation control in multi-agent system of oscillators to achieve balanced circular formation. Each agent gathers an uncertain measurement its phase distance from other agents only when they are proximity. Based on this intermittent data the priori knowledge nominal (e.g. uncontrolled) agent's velocities, we employ method reconstruct relative angular positions. Then, develop bang-bang controller platoon The novelty approach is that formation achieved by using proximity sensors rather than transducers. Moreover, strategy designed so goal even range lower desired spacing distance. effectiveness illustrated through extensive numerical simulations.