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EnglishThis 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.
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| Titolo: | A hybrid model predictive control scheme for multi-agent containment and distributed sensing | |
| Autori: | ||
| Data di pubblicazione: | 2009 | |
| Abstract: | 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. | |
| Handle: | http://hdl.handle.net/11571/204562 | |
| ISBN: | 9781424438723 | |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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