Multi-agent Pattern Generation using a Range-Only Control Law

• Determined and proved conditions necessary to achieve hypotrochoid patterns around a stationary point for two unicycles pursuing each other with equal and unequal velocities using a range-only control strategy
• Devised a switching law to control the minimum and maximum radius of hypotrochoids generated by the pursuit
• Extended the analysis to achieve patterns for multiple (more than two) unicycles with equal velocities