Emergent formations of a Lagrangian swarm of unmanned ground vehicles
Sandeep A. Kumar, Jito Vanualailai, Bibhya Nand Sharma, Atin Chaudhary, Vimi Kapadia · 2016
In this paper, we present a Lagrangian swarm model that shows emergent formations of multiple autonomous unmanned ground vehicles (UGVs). The Direct Method of Lyapunov is used to construct the instantaneous velocity of each individual in the swarm. The velocity controllers ensure the cohesion and therefore the stability of the swarm. Via computer simulations, we illustrate self-organizations such as concentric circular and concentric elliptic formations.