2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/128300In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of fixed interconnection topology. Then a sufficient condition is proposed when the interconnection topology is switched. With a simple first-order dynamics model by using the neighborhood rule, both results show that the group behavior of the agents will converge to the polytope formed by the leaders.6 pagesMathematical Physics93D15text