A Multi-robot Cooperative Control Strategy for Non-linear Entrapment Problems

This paper presents a multi-robot entrapment problem where a group of non-cooperative preys are driven to a set of desired positions by controlling a team of robotic hunters. The main source of complexity is the non-linear behavior of the preys, which is tightly coupled with the position of the hunters. In the paper we analyze the use of a linearized control solution, providing a general framework to solve the entrapment problem for a non-specific number of preys and hunters, and any behavioral model. In order to apply a linear controller, we discuss the search of the operating point for each hunter and its particular control law. Finally, we evaluate the algorithm with different examples of prey dynamics via simulations, analyzing their convergence and the number of hunters needed to control them depending on the size of the group of preys.