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Cloud-Supported Self-Triggered Control for Multi-Agent Circumnavigation

Authors :
Dario Mariniello
Antonio Adaldo
Karl Henrik Johansson
Francesco Lo Iudice
Mario di Bernardo
Dimos V. Dimarogonas
Clara Cavaliere
Cavaliere, C.
Mariniello, D.
Adaldo, A.
Lo Iudice, F.
Dimarogonas, D. V.
Johansson, K. H.
Di Bernardo, M.
Source :
CDC
Publication Year :
2018
Publisher :
IEEE, 2018.

Abstract

In this paper, we propose a cloud-supported control framework for multi-agent circumnavigation missions. We consider a network of planar autonomous agents. Our objective is for the agents to circumnavigate a target with a desired angular speed, while forming a regular polygon around the target. We propose self-triggered rules to schedule the bearing measurements and the cloud accesses for each agent.

Details

Database :
OpenAIRE
Journal :
2018 IEEE Conference on Decision and Control (CDC)
Accession number :
edsair.doi.dedup.....57948519f5880531836153436f2f4f23
Full Text :
https://doi.org/10.1109/cdc.2018.8619358