Containment Control with Multiple Leaders
This chapter introduces a containment control problem, where a group of followers is driven by a group of leaders to be in the convex hull spanned by the leaders. The problem has applications in hazardous material handling, search and rescue, and cooperative transport. We consider three cases, namely, containment control with multiple stationary leaders, containment control with multiple dynamic leaders, and containment control with swarming behavior. Simulation results are presented to illustrate the theoretical results.
KeywordsConvex Hull Interaction Graph Stationary Leader Arbitrary Initial Condition Swarming Behavior
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