01102nas a2200205 4500008004100000245005700041210005600098260002000154300001200174490001400186520047900200653002100679653001300700100001900713700001500732700001500747700001700762700001400779856010300793 2008 eng d00aSteering a Leader-Follower Team via Linear Consensus0 aSteering a LeaderFollower Team via Linear Consensus bSpringer-Verlag a642-6450 v4981/20083 a
The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is described as a leader–follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and solve the containment problem without relying on auxiliary sensors.
10aEmbedded Control10aRobotics1 aPasqualetti, F1 aMartini, S1 aBicchi, A.1 aEgerstedt, M1 aMishra, B uhttp://www.centropiaggio.unipi.it/publications/steering-leader-follower-team-linear-consensus.html