Target Enclosing Control for Nonholonomic Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance

This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed by the agents’ limited interaction ranges and collision-free thresholds. By leveraging a Henneberg construction method, we innovatively formulate the target enclosing requirements within an isostatic distance-based formation framework, facilitating the integrat