Publication details


L. Galbusera, G. Ferrari-Trecate, and R. Scattolini. A hybrid model predictive control scheme for multi-agent containment and distributed sensing. Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference , pages 7006--7011, 2009. Shanghai, China, 16-18 December.


This paper deals with distributed sensing over a field by means ofa multi-agent control architecture. A leader/follower scheme isbuilt up for exploring an environment by properly sensingareas of interest. By means of a control architecture based ondecentralized Model Predictive Control (MPC), the leaders determinethe regions to be sensed and the followers, which are onlyrequired to communicate with a subgroup of leaders, properly movein the space, constrained by the convex hull of their leaders, inorder to perform the sensing task.