Steering a Leader-Follower Team Via LinearConsensus

摘要

The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is represented by a leader-follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and we solve the containment problem without relying on auxiliary sensors.