Work

Containment Control in Mobile Networks

Year: 2008

Type: article

Abstract: In this paper, the problem of driving a collection of mobile robots to a given target destination is studied. In particular, we are interested in achieving this transfer in an orderly manner so as to ensure that the agents remain in the convex polytope spanned by the leader-agents, while the remaining agents, only employ local interaction rules. To this aim we exploit the theory of partial difference equations and propose hybrid control schemes based on stop-go rules for the leader-agents. Non-Zenoness, liveness and convergence of the resulting system are also analyzed.

Source: IEEE Transactions on Automatic Control

DOI: 10.1109/tac.2008.930098

Authors: M. Ji, G. Ferrari-Trecate, M. Egerstedt, A. Buffa

Institutions: Georgia Institute of Technology, Institut national de recherche en sciences et technologies du numérique, University of Pavia, Istituto di Matematica Applicata e Tecnologie Informatiche

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W2123876595

FWCI: 18.07

Cites: 22

Cited by: 810

Related to: 10