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  4. Hierarchical Containment Control in Heterogeneous Mobile Networks
 
conference paper

Hierarchical Containment Control in Heterogeneous Mobile Networks

Ji, M.
•
Egerstedt, M.
•
Ferrari-Trecate, G.
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2006
Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems
17th International Symposium on MathematicalTheory of Networks and Systems

In this paper, the multi-agent containment problem is investigated. In particular, we focus our efforts on a continuation of our previous work on leader-follower networks, by imposing a hierarchical structure on the network topology. The main idea is to organize the team of autonomous, mobile agents in a multi-layered structure, which enables us to understand the tradeoffs between performance and complexity of the hierarchical topology, and we achieve this in the setting where we drive the collection of mobile agents to a target location while guaranteeing containment. In other words, the movement should be such that each layer stays within the convex hull of its parent layer while keeping its child layer inside its own convex hull. Such a criteria is to ensure that the movement of all the agents is constrained to a limited area while the group is moving. The application of this arises, for example, in surveillance, demining, and hazardous materials removing.

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Type
conference paper
Author(s)
Ji, M.
Egerstedt, M.
Ferrari-Trecate, G.
Buffa, A.
Date Issued

2006

Published in
Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems
Start page

2227

End page

2231

Editorial or Peer reviewed

REVIEWED

Written at

OTHER

EPFL units
SCI-STI-GFT  
Event nameEvent placeEvent date
17th International Symposium on MathematicalTheory of Networks and Systems

Kyoto, Japan

July 24-28, 2006

Available on Infoscience
January 10, 2017
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/132646
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