Laplacian Sheep: A Hybrid, Stop-Go Policy for Leader-Based Containment ControlReportar como inadecuado


Laplacian Sheep: A Hybrid, Stop-Go Policy for Leader-Based Containment Control


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The problem of driving a collection of mobile robots to agiven target location is studied in the context of partial difference equations. In particular, we are interested in achieving this transfer whileensuring that the agents stay in the convex polytope spanned by dedicated leader-agents, whose dynamics will be given by a hybrid Stop-Gopolicy. The resulting system ensures containment through the enablingresult that under a Laplacian, decentralized control strategy for the followers, these followers will converge to a location in the convex leaderpolytope, as long as the leaders are stationary and the interaction graphis connected. Simulation results testify to the viability of the proposed,hybrid control strategy.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Autor: Ferrari-Trecate, G. - Egerstedt, Magnus B. - Buffa, A. - Ji, Meng - -

Fuente: https://smartech.gatech.edu/







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