Generalization of the Cyclic Pursuit Problem

In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under cyclic pursuit is studied. Cyclic pursuit is a simple distributed control law, in which the agent $i$ pursues agent $i+1$ modulo $n$. Each agent is subjected to a nonholonomic constraint. The necessary conditions for equilibrium formation to occur among a group of agents with different speeds and controller gains is discussed. These results generalize equal speed and equal controller gain results available in the literature