Generalized hierarchical block circulant structure of multi-agent systems

In this paper, we consider solving the rendezvous problem in multi-agent systems using factor circulant strategy and generalized hierarchical block circulant strategy. First, we provide a centralized control strategy designed under factor circulant interaction to enable the agents to rendezvous at a point dictated by the beacon. Second, we introduce a hierarchical block circulant structure with the aim of solving the rendezvous problem in a distributed manner and improve the rate of convergence of multiple agents to a point. Simulation results demonstrates the key theoretical results.