conference paper
A hybrid model predictive control scheme for multi-agent containment and distributed sensing
Galbusera, L.
•
Ferrari-Trecate, G.
•
Scattolini, R.
2009
Proceedings of the 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
This paper deals with distributed sensing over a field by means of a multi-agent control architecture. A leader/follower scheme is built up for exploring an environment by properly sensing areas of interest. By means of a control architecture based on decentralized Model Predictive Control (MPC), the leaders determine the regions to be sensed and the followers, which are only required to communicate with a subgroup of leaders, properly move in the space, constrained by the convex hull of their leaders, in order to perform the sensing task.
Type
conference paper
Author(s)
Galbusera, L.
Ferrari-Trecate, G.
Scattolini, R.
Date Issued
2009
Published in
Proceedings of the 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference
Start page
7006
End page
7011
Editorial or Peer reviewed
REVIEWED
Written at
OTHER
EPFL units
| Event place | Event date |
Available on Infoscience
January 10, 2017
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