G. Ferrari-Trecate, M. Egerstedt, A. Buffa, and M. Ji. Laplacian sheep: A hybrid, stop-go policy for leader-based containment control. In J.P. Hespanha and A. Tiwari, editors, Proc. 9th International Workshop on Hybrid Systems: Computation and Control , volume 3927 of Lecture Notes in Computer Science , pages 212--226. Springer-Verlag, 2006.
The problem of driving a collection of mobile robots toa given target location is studied in the context of partialdifference equations. In particular, we are interested inachieving this transfer while ensuring that the agents stay in theconvex polytope spanned by dedicated leader-agents, whose dynamicswill be given by a hybrid Stop-Go policy. The resulting systemensures containment through the enabling result that under aLaplacian, decentralized control strategy for the followers, thesefollowers will converge to a location in the convex leaderpolytope, as long as the leaders are stationary and theinteraction graph is connected. Simulation results testify tothe viability of the proposed, hybrid control strategy.