TY - GEN
T1 - A leader-based containment control strategy for multiple unicycles
AU - Dimarogonas, Dimos V.
AU - Egerstedt, Magnus
AU - Kyriakopoulos, Kostas J.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
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U2 - 10.1109/cdc.2006.376700
DO - 10.1109/cdc.2006.376700
M3 - Conference contribution
AN - SCOPUS:37049036851
SN - 1424401712
SN - 9781424401710
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5968
EP - 5973
BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 45th IEEE Conference on Decision and Control 2006, CDC
Y2 - 13 December 2006 through 15 December 2006
ER -