Multi-agent coordination with cohesion, dispersion, and containment control
Fei Chen, Wei Ren, Zongli Lin · 2010
In this paper, the containment control problem is studied. The particular interest is to drive all followers towards the convex hull formed by the leaders while producing swarming behavior and keeping group dispersion. To this aim a decentralized control law is proposed which ensures collision-free movements. It is shown that the tracking error can be controlled by simply tuning some control parameters.