Containment Control in Mobile Networks
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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.
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2008-09
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