A class of tracking problem for multi-agent systems with time delays

In this paper, a class of tracking problem for multi-agent systems with both switching topology and time varying delays is investigated. Specially, we consider the agents´ distribution, which agents are randomly deployed into the 2-dimensional space. With the assistance of Voronoi diagrams, this space is divided into many Voronoi cells. During the pursuit process, when a target enters a new Voronoi cell, the Voronoi site agent becomes a tracking agent. This means that not only the topology but also the tracking agents switch, which is significantly different from the traditional switching topologies. The controller of tracking agents is designed for both switching topology and time varying delays. Finally, the proposed tracking strategy is verified by a set of simulations.