A hybrid model predictive control scheme for multi-agent containment and distributed sensing

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.


Published in:
Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, 7006-7011
Year:
2009
Note:
Shanghai, China, 16-18 December
Laboratories:




 Record created 2017-01-10, last modified 2018-09-13


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