@article{(Open Science Index):https://publications.waset.org/pdf/7914,
	  title     = {A Cohesive Lagrangian Swarm and Its Application to Multiple Unicycle-like Vehicles},
	  author    = {Jito Vanualailai and  Bibhya Sharma},
	  country	= {},
	  institution	= {},
	  abstract     = {Swarm principles are increasingly being used to design controllers for the coordination of multi-robot systems or, in general, multi-agent systems. This paper proposes a two-dimensional Lagrangian swarm model that enables the planar agents, modeled as point masses, to swarm whilst effectively avoiding each other and obstacles in the environment. A novel method, based on an extended Lyapunov approach, is used to construct the model. Importantly, the Lyapunov method ensures a form of practical stability that guarantees an emergent behavior, namely, a cohesive and wellspaced swarm with a constant arrangement of individuals about the swarm centroid. Computer simulations illustrate this basic feature of collective behavior. As an application, we show how multiple planar mobile unicycle-like robots swarm to eventually form patterns in which their velocities and orientations stabilize.
},
	    journal   = {International Journal of Mathematical and Computational Sciences},
	  volume    = {6},
	  number    = {12},
	  year      = {2012},
	  pages     = {1734 - 1743},
	  ee        = {https://publications.waset.org/pdf/7914},
	  url   	= {https://publications.waset.org/vol/72},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 72, 2012},
	}