Yes. The proven method is to A/restrict data rates to just high ones and B/lower the transmit power of your AP so that your devices can no longer maintain high enough data rates after a given point and are forced to disconnect. I am almost certain the run of the mill stock firmware does not offer you this option. Look into installing OpenWrt.

Apart from that, OpenWrt now allows you to install and use usteer which offers a plethora of (802.11 standards-based) tools to manage client roaming from the AP side, including the APs exchanging information between themselves.