Departmental Papers (ESE)


We study the problem of flocking and coordination of a group of kinematic nonholonomic agents in 2 and 3 dimensions. By analyzing the velocity vectors of agents on a circle (for planar motion) or sphere (for 3D motion), we develop geodesic control laws that minimize a misalignment potential based on graph Laplacians resulting in velocity alignment. The proposed control laws are distributed and will provably result in flocking when the underlying proximity graph which represents the neighborhood relation among agents is connected. Furthermore, we develop a vision based control law that does not rely on heading measurements, but only requires measurement of bearing, optical flow and time-to-collision, all of which can be efficiently measured.

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Conference Paper

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Date of this Version



Suggested Citation:
Moshtagh, N., A. Jadbabaie and K. Daniilidis. (2005). "Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents. Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference 2005. Seville, Spain. December 12-15, 2005.

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Date Posted: 12 October 2010

This document has been peer reviewed.