Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 53, Issue 8, Pages 1972-1975Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2008.930098
Keywords
containment problems; decentralized control; graph theory; leader-following; multi-agent systems; partial difference equations
Funding
- European Commission [FP6-IST-511368]
- U.S. Army Research Office [99838]
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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.
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