Motion-planning-based formation-containment control for multi-agent systems

Abstract

This paper studies the formation-containment problem for multi-agent systems. By using motion-planning approaches, a new class of distributed formation-containment protocols are designed for multi-agent systems such that the states of followers asymptotically converge to the convex hull formed by the states of leaders. Then, by selecting a special sampling time sequence, the finite-time formation-containment problem are solved for multi-agent systems. Finally, a numerical simulation is shown to verify the theory results in this paper.