Broadcast Guidance of Agents in Deviated Linear Cyclic Pursuit

TL;DR

This paper investigates how a group of agents performing deviated linear cyclic pursuit behave collectively when guided by a broadcast control signal, with the emergent behavior influenced by deviation angles and which agents receive guidance.

Contribution

It introduces a model for broadcast guidance in deviated cyclic pursuit and analyzes how the group's behavior depends on deviation angles and guidance reception.

Findings

Emergent group behavior is influenced by deviation angle.

The set of agents detecting guidance affects the group's dynamics.

The model provides insights into controlling agent groups with broadcast signals.

Abstract

In this report we show the emergent behavior of a group of agents, ordered from 1 to n, performing deviated, linear, cyclic pursuit, in the presence of a broadcast guidance control. Each agent senses the relative position of its target, i.e. agent i senses the relative position of agent i+1. The broadcast control, a velocity signal, is detected by a random set of agents in the group. We assume the agents to be modeled as single integrators. We show that the emergent behavior of the group is determined by the deviation angle and by the set of agents detecting the guidance control.