Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors: The Case of Dynamic Leaders *

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a double-integrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.