Nearly cyclic pursuit and its hierarchical variant for multi-agent systems

The rendezvous problem for multiple agents under nearly cyclic pursuit and hierarchical nearly cyclic pursuit is discussed in this paper. The control law designed under nearly cyclic pursuit strategy enables the agents to converge at a point dictated by a beacon. A hierarchical version of the nearly cyclic pursuit is proposed to increase the rate of convergence and also minimizes the communication links between the layers. We provide simulation results to demonstrate the effectiveness of our proposed method.