Laplacian Sheep: A Hybrid, Stop-Go Policy for Leader-Based Containment Control
Giancarlo Ferrari‐Trecate, Magnus Egerstedt, Annalisa Buffa, Ji, M., J. P. Hespanha, A. Tiwari · 2006
Abstract. The problem of driving a collection of mobile robots to a given target location is studied in the context of partial difference equa-tions. In particular, we are interested in achieving this transfer while ensuring that the agents stay in the convex polytope spanned by dedi-cated leader-agents, whose dynamics will be given by a hybrid Stop-Go policy. The resulting system ensures containment through the enabling result that under a Laplacian, decentralized control strategy for the fol-lowers, these followers will converge to a location in the convex leader polytope, as long as the leaders are stationary and the interaction graph is connected. Simulation results testify to the viability of the proposed, hybrid control strategy. 1