Generalization of nonlinear cyclic pursuit

In this paper, some generalizations of the problem of formation of a group of autonomous mobile agents under nonlinear 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. A necessary condition for equilibrium formation to occur among a group of agents with different speeds and different controller gains is obtained. These results generalize equal speed and equal controller gain results available in the literature