TitleSteering a Leader-Follower Team via Linear Consensus
Publication TypeConference Paper
Year of Publication2008
Conference NameHybrid Systems: Computation and Control
Edited Volume4981/2008
Publication Languageeng
AuthorsPasqualetti, F, Martini, S, Bicchi, A
EditorEgerstedt, M, Mishra, B
KeywordsEmbedded Control, Robotics

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.

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