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A leader-follower framework is proposed for multi-robot navigation of largescale teams where the leader agents corral the follower agents. A group ofleaders is modeled as a 2D deformable object where discrete masses (i.e.,leader robots) are interconnected by springs and dampers. A time-varying domainis defined by the positions of leaders while the external forces inducedeformations of the domain from its nominal configuration. The team offollowers is performing coverage over the time-varying domain by employing aperspective transformation that maps between the nominal and deformedconfigurations. A decentralized control strategy is proposed where a leaderonly takes local sensing information and information about its neighbors(connected by virtual springs and dampers), and a follower only needs partialinformation about leaders and information about its Delaunay neighbors.

Swarm Herding: A Leader-Follower Framework For Multi-Robot Navigation