TY - CONF T1 - Steering a Leader-Follower Team via Linear Consensus T2 - Hybrid Systems: Computation and Control Y1 - 2008 A1 - F. Pasqualetti A1 - S. Martini A1 - A. Bicchi ED - M. Egerstedt ED - B. Mishra KW - Embedded Control KW - Robotics AB -

The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is described as a leader–follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and solve the containment problem without relying on auxiliary sensors.

JF - Hybrid Systems: Computation and Control T3 - Lecture Notes in Computer Science PB - Springer-Verlag VL - 4981/2008 ER -