A Study of Balanced Circular Formation under Deviated Cyclic Pursuit Strategy

Abstract

This paper deals with the study of balanced circular formation for n unicycles agents. It has been presented in the literature that there exists more than one balanced circular formation when the agents are following cyclic pursuit strategy. We modify cyclic pursuit strategy by introducing a parameter called deviation angle with the hope to get unique equilibrium formation. The modified strategy is called deviated cyclic pursuit. Monte Carlo simulations has been carried out to find the range of deviation angle where a unique equilibrium formation exists.