A Leader-based Containment Control Strategy for Multiple Unicycles

A survey of multi-agent formation control

“…This approach is practically advantageous because follower agents do not require expensive sensors. Containment control has been studied for single-integrators with fixed (FerrariTrecate, Egerstedt, Buffa, & Ji, 2006;Ji, Ferrari-Trecate, Egerstedt, & Buffa, 2008), switching (Cao & Ren, 2009), and state-dependent interaction topology (Chen, Ren, & Lin, 2010), double-integrators (Cao, Stuart, Ren, & Meng, 2011), unicycles (Dimarogonas, Egerstedt, & Kyriakopoulos, 2006), Euler-Lagrangian systems (Dimarogonas, Tsiotras, & Kyriakopoulos, 2009;Mei, Ren, & Ma, 2011;Meng, Ren, & You, 2010), and general linear systems (Li, Ren, Liu, & Fu, 2013).…”

Containment control of continuous-time linear multi-agent systems with aperiodic sampling

“…It can be found in many application scenarios such as when a collection of autonomous robots are to secure and then remove hazardous materials. In Dimarogonas, Egerstedt, and Kyriakopoulos (2006), containment control of multiple unicycle agents was a combination of formation and agreement problems. A hybrid control scheme based on stop-go rules was proposed in Ji, Ferrari-Trecate, Egerstedt, and Buffa (2008) to guarantee that the followers remain in the convex polytope spanned by the leader-agents during their transportation.…”

Formation-containment control for high-order linear time-invariant multi-agent systems with time delays

“…It is well-known that in the network based systems, packet dropouts [30], quantization [31], especially time delays [32,33] are inevitable. However, time delays were not considered in [26][27][28][29]. To the best of our knowledge, formation-containment problems for high-order LTI multi-agent systems with time delays are still open.…”

“…It should be pointed out that formation-containment problem cannot be directly decouple into formation problem for the leaders and containment problem for the followers due to the fact that the behaviors of the leaders have effect on the followers. Formation-containment problems for single-integrator and double-integrator multi-agent systems with undirected interaction topologies were addressed in [26,27]. Liu et al [28] discussed formation-containment problems for first-order multi-agent systems with directed switching interaction topologies.…”