Coordination for a Group of Autonomous Mobile Agents with Multiple Leaders
arXiv:0705.0233 · doi:10.1109/CHICC.2006.280978
Abstract
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of fixed interconnection topology. Then a sufficient condition is proposed when the interconnection topology is switched. With a simple first-order dynamics model by using the neighborhood rule, both results show that the group behavior of the agents will converge to the polytope formed by the leaders.
5 pages,7 figures