TY - GEN
T1 - A design of hybrid feedback stabilization on 1D coverage with topological perspectives
AU - Baryshnikov, Yuliy
AU - Chen, Cheng
AU - Wang, Han
N1 - Funding Information:
This work was supported in part by ONR under the grant number N00014-11-1-0178 and in part by AFOSR under grant number FA9550-10-1-05678
Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - In this paper, we study the topology of the space of coverings for a 1 dimensional coverage problem. In the sense of full coverage with excess one agent, the topological structure of the space of coverings is described by the skeleton of permutahedron. Based on its topological structure, we design a periodic trajectory which satisfies natural performance requirements and a two-level hybrid hierarchical control on the multi-agent system. Then we compare the hybrid hierarchical control to a usual centralized control through a numerical example and simulations.
AB - In this paper, we study the topology of the space of coverings for a 1 dimensional coverage problem. In the sense of full coverage with excess one agent, the topological structure of the space of coverings is described by the skeleton of permutahedron. Based on its topological structure, we design a periodic trajectory which satisfies natural performance requirements and a two-level hybrid hierarchical control on the multi-agent system. Then we compare the hybrid hierarchical control to a usual centralized control through a numerical example and simulations.
UR - http://www.scopus.com/inward/record.url?scp=84992166070&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84992166070&partnerID=8YFLogxK
U2 - 10.1109/ACC.2016.7526477
DO - 10.1109/ACC.2016.7526477
M3 - Conference contribution
AN - SCOPUS:84992166070
T3 - Proceedings of the American Control Conference
SP - 5154
EP - 5160
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -