Rendezvous with multiple, intermittent leaders

In this paper we study bipartite, first order-networks where the nodes take on leader or follower roles. In particular, we let the leaders' positions be static and assume that they are only intermittently visible to the followers. This is an assumption that is inspired by the way female silkworm moths only intermittently release pheromones to be detected by the males. The main result in this paper states that if the followers execute the linear agreement protocol, they will converge to the convex hull spanned by the leaders (may they be visible or not).