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Laplacian sheep: A hybrid, stop-go policy for leader-based containment control. (English) Zbl 1178.68595
Hespanha, João (ed.) et al., Hybrid systems: Computation and control. 9th international workshop, HSCC 2006, Santa Barbara, CA, USA, March 29–31, 2006. Proceedings. Berlin: Springer (ISBN 3-540-33170-0/pbk). Lecture Notes in Computer Science 3927, 212-226 (2006).
Summary: 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.
For the entire collection see [Zbl 1103.68006].

MSC:
68T40 Artificial intelligence for robotics
93C85 Automated systems (robots, etc.) in control theory
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