Containment Control in Mobile Networks

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Title: Containment Control in Mobile Networks
Author: Ji, Meng ; Ferrari-Trecate, G. ; Egerstedt, Magnus B. ; Buffa, A.
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.
Description: (c) 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier: 10.1109/TAC.2008.930098
Type: Article
ISSN: 0018-9286
Citation: M. Ji, G. Ferrari-Trecate, M. Egerstedt, and A. Buffa. Containment Control in Mobile Networks. IEEE Transactions on Automatic Control, Vol. 53, No. 8, pp. 1972-1975, Sept. 2008.
Date: 2008-09
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Università degli Studi di Pavia. Dipartimento di Informatica e Sistemistica
Consiglio nazionale delle ricerche (Italy). Istituto di Matematica Applicata e Tecnologie Informatiche
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Containment problems
Decentralized control
Graph theory
Multi-agent systems
Partial difference equations

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