Abstract
Target enclosure behavior of autonomous robots is useful for many practical applications, for example, surveillance of disaster sites. Scalability is one of important capabilities for autonomous robots because a larger group has more robust for breakdown, accidents and failure. However, it is more difficult to operate a larger group of robots because it needs higher capabilities to recognize teammates individually. In this paper, to achieve high scalability of target enclosure model, we show a new condition for Takayama's enclosure model. Originally, their model needs a static relation between agents. However, the robots can form an enclosure even dynamical topology based on nearest neighbor graph, under which robots do not need the recognition capabilities. The authors show this issue by analytic discussion based on switched systems and a series of computer simulations.
