Dynamic Encirclement for Anonymous Agents With Arbitrary Formations

In this study, distributed circle surrounding control problems are investigated for double-integrator anonymous multiagent systems, where all available information for each agent can be obtained based on its moving local coordinate frame. First, the dynamics of each agent described in the local frames are developed in light of the transformation relation between the global and local frames. Then, distributed formation control protocols are designed by local measurements to form and maintain the expected arbitrary circle formations in a plane. The proposed protocols efficiently reduce the requirement of the equipped devices and data processing capabilities, since the agents do not need to be equipped with expensive and high-precision sensors to acquire the real-time acceleration of the target. Finally, the effectiveness of the theoretical result is demonstrated by simulations.