Nonlinear dynamics of unicycles in leader-follower formation

In this paper, dynamical analysis is presented for a group of unicycles in leader-follower formation. The equilibrium formations were characterized along with the local stability analysis. It was demonstrated that with the variation in control gain, the collective dynamics might undergo Andronov-Hopf and Fold-Hopf bifurcations. An increase in the number of unicycles increase the vigor of quasi-periodicity in the regime of AndronovHopf Bifurcation and heteroclinic bursts between quasi-periodic and chaotic behavior in the regime of Fold-Hopf bifurcation. Numerical simulations also suggest the occurrence of global bifurcation involving the destruction of heteroclinic orbit.