Network-topology Independent Cooperative Target-enclosing Behavior by Swarms of Vehicles
Hiroki Kawakami, Toru Namerikawa · Transactions of the Society of Instrument and Control Engineers · 2009
This paper deals with cooperative target-enclosing problem for swarms of vehicles with dynamic network-topology. First, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose the target-enclosing strategy based on consensus seeking with dynamic network-topology. In proposed strategy, at least one vehicle has to acquire the states of target-object. Furthermore, we prove that convergence speed of each vehicle is independent of network-topology. To analyze the convergence of target-enclosing behavior under dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of the proposed method.