{"id":"https://openalex.org/W2130467781","doi":"https://doi.org/10.1109/cdc.2009.5399661","title":"Geometry of cyclic pursuit","display_name":"Geometry of cyclic pursuit","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2130467781","doi":"https://doi.org/10.1109/cdc.2009.5399661","mag":"2130467781"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2009.5399661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5399661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036845309","display_name":"Kevin S. Galloway","orcid":"https://orcid.org/0000-0001-5604-6815"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. S. Galloway","raw_affiliation_strings":["Institute of Systems Research and the Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA","Institute for Systems Research and the Department of Electrical and Computer Engineering at the University of Maryland, College Park, 20742, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Systems Research and the Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Institute for Systems Research and the Department of Electrical and Computer Engineering at the University of Maryland, College Park, 20742, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077434413","display_name":"Eric W. Justh","orcid":null},"institutions":[{"id":"https://openalex.org/I1288214837","display_name":"United States Naval Research Laboratory","ror":"https://ror.org/04d23a975","country_code":"US","type":"facility","lineage":["https://openalex.org/I1288214837","https://openalex.org/I1330347796","https://openalex.org/I175003984","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. W. Justh","raw_affiliation_strings":["Institute of Systems Research and the Department of Electrical and Computer Engineering, Naval Research Laboratory, Inc., Washington D.C., DC, USA","Naval Research Laboratory - Washington, DC 20375, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Systems Research and the Department of Electrical and Computer Engineering, Naval Research Laboratory, Inc., Washington D.C., DC, USA","institution_ids":["https://openalex.org/I1288214837"]},{"raw_affiliation_string":"Naval Research Laboratory - Washington, DC 20375, USA","institution_ids":["https://openalex.org/I1288214837"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103154670","display_name":"P. S. Krishnaprasad","orcid":"https://orcid.org/0000-0003-4557-158X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. S. Krishnaprasad","raw_affiliation_strings":["Institute of Systems Research and the Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA","Institute for Systems Research and the Department of Electrical and Computer Engineering at the University of Maryland, College Park, 20742, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Systems Research and the Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Institute for Systems Research and the Department of Electrical and Computer Engineering at the University of Maryland, College Park, 20742, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.8836,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.98479806,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"43","issue":null,"first_page":"7485","last_page":"7490"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10482","display_name":"Mathematical and Theoretical Epidemiology and Ecology Models","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/2739","display_name":"Public Health, Environmental and Occupational Health"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/submanifold","display_name":"Submanifold","score":0.910740077495575},{"id":"https://openalex.org/keywords/modulo","display_name":"Modulo","score":0.8003386855125427},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6180292367935181},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5781381130218506},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5528061389923096},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4880141317844391},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.45612895488739014},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4441315233707428},{"id":"https://openalex.org/keywords/lti-system-theory","display_name":"LTI system theory","score":0.4333467483520508},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4318588674068451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42051151394844055},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.359042763710022},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3296802043914795},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.29532259702682495},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19872698187828064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1966279149055481},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.18595802783966064},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1584656536579132},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15732258558273315},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.10617071390151978},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07586628198623657}],"concepts":[{"id":"https://openalex.org/C151300846","wikidata":"https://www.wikidata.org/wiki/Q125539","display_name":"Submanifold","level":2,"score":0.910740077495575},{"id":"https://openalex.org/C54732982","wikidata":"https://www.wikidata.org/wiki/Q1415345","display_name":"Modulo","level":2,"score":0.8003386855125427},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6180292367935181},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5781381130218506},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5528061389923096},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4880141317844391},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45612895488739014},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4441315233707428},{"id":"https://openalex.org/C87698059","wikidata":"https://www.wikidata.org/wiki/Q1808960","display_name":"LTI system theory","level":3,"score":0.4333467483520508},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4318588674068451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42051151394844055},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.359042763710022},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3296802043914795},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.29532259702682495},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19872698187828064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1966279149055481},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.18595802783966064},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1584656536579132},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15732258558273315},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.10617071390151978},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07586628198623657},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2009.5399661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5399661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1571143739","https://openalex.org/W1964918537","https://openalex.org/W1971603612","https://openalex.org/W2024621402","https://openalex.org/W2035348168","https://openalex.org/W2065567172","https://openalex.org/W2089724372","https://openalex.org/W2090881423","https://openalex.org/W2092567379","https://openalex.org/W2111638077","https://openalex.org/W2112164016","https://openalex.org/W2125787015","https://openalex.org/W2140947684","https://openalex.org/W3104231799","https://openalex.org/W4248418317"],"related_works":["https://openalex.org/W2359343145","https://openalex.org/W4281917972","https://openalex.org/W4390092712","https://openalex.org/W2374106464","https://openalex.org/W1978176540","https://openalex.org/W4290081669","https://openalex.org/W2739833928","https://openalex.org/W2369466750","https://openalex.org/W2592386040","https://openalex.org/W3169827016"],"abstract_inverted_index":{"Pursuit":[0],"strategies":[1],"(formulated":[2],"using":[3],"constant-speed":[4],"particle":[5,104],"models)":[6],"provide":[7],"a":[8,44,77],"means":[9],"for":[10,63,86],"achieving":[11],"cohesive":[12],"behavior":[13],"in":[14,39],"systems":[15],"of":[16,53,66,80],"multiple":[17],"mobile":[18],"agents.":[19],"In":[20],"the":[21,51,64,97,102],"present":[22,76],"paper,":[23],"we":[24],"explore":[25],"an":[26,54],"n-agent":[27],"cyclic":[28],"pursuit":[29,47],"scheme":[30],"(i.e.":[31],"agent":[32,35,42],"i":[33],"pursues":[34],"i+1,":[36],"modulo":[37],"n)":[38],"which":[40],"each":[41],"employs":[43],"constant":[45],"bearing":[46],"strategy.":[48],"We":[49,75],"demonstrate":[50],"existence":[52,65],"invariant":[55],"submanifold,":[56],"and":[57,60,68,83,91],"state":[58],"necessary":[59],"sufficient":[61],"conditions":[62],"rectilinear":[67],"circling":[69],"relative":[70],"equilibria":[71],"on":[72],"that":[73],"submanifold.":[74],"full":[78],"analysis":[79,100],"steady-state":[81],"solutions":[82],"stability":[84,99],"characteristics":[85],"two-particle":[87],"\u00bfmutual":[88],"CB":[89],"pursuit\u00bf":[90],"then":[92],"outline":[93],"steps":[94],"to":[95,101],"extend":[96],"nonlinear":[98],"many":[103],"case.":[105]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}