Cooperative target-capturing strategy for multi-vehicle systems with dynamic network topology

This paper deals with cooperative target-capturing problem for multi-vehicle systems with dynamic network topology. Firstly, we introduce a dynamic network topology that depends on relative distance between the vehicles. Secondly, we propose the target-capturing strategy based on consensus seeking with dynamic network topology. In proposed strategy, at least one vehicle can acquire the information of the target-object and network topology among vehicles is time-varying but always connected. To analyze the convergence of target-capturing behavior with dynamic network topology, algebraic graph theory and matrix theory are utilized. Finally, numerical simulation results and experimental results are provided that demonstrate the effectiveness of the proposed method.