Orbital Pattern Generation for Double-integrator Agents using Consensus Strategy

M. Jerome Moses, Arpita Sinha, Hoam Chung

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

1 Citation (Scopus)


This article studies the trochoidal pattern formation in multi-agent system. The agents are modeled using double integrator dynamics and the trajectory of the agents resembles trochoidal patterns. The trochoidal pattern formation is attained using a distributed consensus strategy and the interaction among the agents is captured using a graph topology. In this article, we consider the complex interaction represented by weighted directed graphs. We derive the necessary condition of achieving the trochoidal pattern by appropriately placing the eigenvalues of the system. Simulations are carried out to demonstrate the developed theory.

Original languageEnglish
Title of host publicationAustralasian Conference on Robotics and Automation 2019, ACRA 2019
Publication statusPublished - 2019
EventAustralasian Conference on Robotics and Automation 2019 - University of Adelaide, Adelaide, Australia
Duration: 9 Dec 201911 Dec 2019

Publication series

NameAustralasian Conference on Robotics and Automation
ISSN (Print)1448-2053


ConferenceAustralasian Conference on Robotics and Automation 2019
Abbreviated titleACRA 2019
Internet address


  • Cooperative control
  • Multi-agent systems
  • Pattern formation
  • Trochoids

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