Containment Control in Mobile Networks

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 remaini...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2008-09, Vol.53 (8), p.1972-1975
Main Authors: Ji, M., Ferrari-Trecate, G., Egerstedt, M., Buffa, A.
Format: Article
Language:English
Subjects:
Applied sciences
Automatic control
Collection
Computer science
control theory
systems
Containment
Containment problems
Control theory. Systems
Convergence
decentralized control
Difference equations
Distributed control
Exact sciences and technology
Graph theory
Hybrid control
leader-following
Mobile agents
Mobile robots
Motion control
multi-agent systems
Multiagent systems
Networks
partial difference equations
Robot sensing systems
Robotics
Robots
Transportation
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Summary: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.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2008.930098