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

Author

Galbusera, Luca ; Ferrari-Trecate, Giancarlo ; Scattolini, Riccardo

Author_Institution

Dipt. di Elettron. e Inf., Politec. di Milano, Milan, Italy

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

7006

Lastpage

7011

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.

Keywords

decentralised control; multi-agent systems; multi-robot systems; predictive control; control architecture; decentralized model predictive control; distributed sensing; hybrid model predictive control scheme; leader-follower scheme; multi-agent containment; multi-agent control architecture; Communication networks; Communication system control; Control systems; Graph theory; Monitoring; Multiagent systems; Particle measurements; Predictive control; Predictive models; Surveillance;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400450

Filename

5400450