Managing multiple docker hosts

I have two Raspberry Pi hosts running docker (may be adding more).

Do I install portainer on each host and then the agent so I can manage either host from either portainer instance ? I would like to be able to manage either docker host from either RPI if possible.

Thanks,
Ron

you just need to install Portainer on one of them, and then on the other, deploy the Portainer agent and connect to it from the first instance using that method.