Laplacian sheep: A hybrid, stop-go policy for leader-based containment control

被引：0
|
作者：
Ferrari-Trecate, G.
Egerstedt, A.
Buffa, A.
Ji, A.
机构：
[1] INRIA, F-78153 Le Chesnay, France
[2] Univ Pavia, Dipartimento Informat & Sistemist, I-27100 Pavia, Italy
[3] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA
[4] CNR, Ist Matemat Appl & Tecnol Informat, I-27100 Pavia, Italy
来源：
HYBRID SYSTEMS: COMPUTATION AND CONTROL, PROCEEDINGS | 2006年 / 3927卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer while ensuring that the agents stay in the convex polytope spanned by dedicated leader-agents, whose dynamics will be given by a hybrid Stop-Go policy. The resulting system ensures containment through the enabling result that under a Laplacian, decentralized control strategy for the followers, these followers will converge to a location in the convex leader polytope, as long as the leaders are stationary and the interaction graph is connected. Simulation results testify to the viability of the proposed, hybrid control strategy.
引用
收藏
页码：212 / 226
页数：15
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