Cyclic pursuit without coordinates: Convergence to regular polygon formations. Arnold, M., Baryshnikov, Y., & Liberzon, D. In 53rd IEEE Conference on Decision and Control, pages 6191-6196, Dec, 2014.
doi  bibtex   
@INPROCEEDINGS{7040359, 
author={M. Arnold and Y. Baryshnikov and D. Liberzon}, 
booktitle={53rd IEEE Conference on Decision and Control}, 
title={Cyclic pursuit without coordinates: Convergence to regular polygon formations}, 
year={2014}, 
pages={6191-6196}, 
keywords={computational geometry;convergence;linearisation techniques;matrix algebra;mobile robots;multi-robot systems;Dubins car;block-circulant structure;convergence;fixed heading angle;identical agents;local convergence;multiagent cyclic pursuit model;regular polygon formations;stationary shapes;sufficient condition;system linearization matrix;Automotive components;Convergence;Eigenvalues and eigenfunctions;Equations;Mathematical model;Shape;Stability analysis}, 
doi={10.1109/CDC.2014.7040359}, 
ISSN={0191-2216}, 
month={Dec},}

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