[en] This paper presents analysis and application of
steering control laws for a network of self-propelled, planar
particles. We explore together the two stably controlled group
motions, parallel motion and circular motion, for modeling
and design purposes. We show that a previously considered
control law simultaneously stabilizes both parallel and circular
group motion, leading to bistability and hysteresis. We
also present behavior primitives that enable piecewise-linear
network trajectory tracking.
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