Distributed Region Tracking and Perimeter Surveillance for Second-Order Multi-Agent Systems in Star-Shaped Sets

This paper investigates region tracking and perimeter surveillance of second-order multiagent systems, where all agents move within a star-shaped set. First, by coordination transformations, the region tracking problem is converted from the star-shaped sets to a circular region. The authors employ communication and collaboration to complete region tracking and perimeter surveillance tasks, and then revert back to the star-shaped set by using inverse transformations. Second, the authors propose a distributed control strategy based on attractive and interaction potential functions, under which all agents can quickly track a given circular region and move around the perimeter. Finally, the authors validate the effectiveness and performance advantages of the proposed method through simulation experiments.