Steering a Leader-Follower Team via Linear Consensus

The paper considers the problem of driving a formation of autonomous mobile agents. Thegroup of mobile devices is represented by a leader-follower network, where the followers updatetheir position using a simple local consensus procedure, while the leaders, whose positionsrepresent the control inputs of the network, are free to move. We characterize the transientbehavior of the network, and we solve the containment problem without relying on auxiliarysensors