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In this paper, we study the problem of distributed containment control of a group of mobile autonomous agents with multiple stationary or dynamic leaders under fixed and switching directed network topologies. In the case of stationary leaders, we show necessary and sufficient conditions on the network topology such that all followers will ultimately converge to the stationary convex hull formed by...
This paper introduces a new consensus protocol whose features are different from known consensus protocols available in the literature. The relation between discrete coverage algorithms over a convex polygon for solving a facility location problem (n-median problem) along with some notions in agreement over acyclic digraphs have been used to establish a novel constrained consensus protocol. Its convergence...
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