A leader-based containment control strategy for multiple unicycles

Dimarogonas, DV; Egerstedt, M; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Egerstedt, M	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:49Z
dc.date.available	2014-03-01T02:43:49Z
dc.date.issued	2006	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31521
dc.subject	Computer Simulation	en
dc.subject	Control Problem	en
dc.subject	Control Strategy	en
dc.subject	Convex Hull	en
dc.subject	Difference Equation	en
dc.subject.other	Computer simulation	en
dc.subject.other	Containment vessels	en
dc.subject.other	Integration	en
dc.subject.other	Partial differential equations	en
dc.subject.other	Velocity measurement	en
dc.subject.other	Convex hull	en
dc.subject.other	Leader-based containment control strategy	en
dc.subject.other	Multiple unicycles	en
dc.subject.other	Single integrators	en
dc.subject.other	Multi agent systems	en
dc.title	A leader-based containment control strategy for multiple unicycles	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2006.376700	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2006.376700	en
heal.identifier.secondary	4177580	en
heal.publicationDate	2006	en
heal.abstract	In this paper, a leader based containment control strategy for multiple unicycle agents is introduced. Similar results for the single integrator case examined in [7] are derived based on the theory of Partial Difference Equations on graphs established in [1]. The leaders converge to a desired formation based on a control law that is independent of the followers' states. Once the leaders have reached the desired formation, the followers converge to the convex hull of the leaders final positions. When the desired leader formation is infeasible, then (as was shown in [5]) the leaders converge to a configuration where they share the same velocities and orientations. We show in this paper that in such a situation, the followers converge to the same velocities and orientations as the leaders, with the same control law that was used for the followers in the initial containment control problem. The theoretical results are verified through computer simulations. © 2006 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2006.376700	en
dc.identifier.spage	5968	en
dc.identifier.epage	5973	en