Triangular Formation Cluster Space Control for Multi-Agent Entrapment/Escorting Tasks

The task of enabling a multi-agent system for entrapping and escorting static/dynamic targets in the context of cluster space control is addressed. The proposed methodology consists of two main strategies. On one hand, the entrapping and escorting problems are specified in terms of cluster parameter trajectories, resulting in individual robot motions capable of satisfying the required multi-agent formation behavior. On the other hand, a fuzzy logic controller is designed in order to deal with the uncertainty in the model of the platform used in laboratory tests. Experimental results showing a team of three ground mobile robots entrapping a static target, as well as escorting a dynamic target demonstrate the effectiveness of the proposed control scheme.