{"corpus_id":4812106,"paper_sha":"3009a550ff5fb327b1dc3c53630e26cd74e365e5","doi":"10.1109/TAC.2008.930098","arxiv_id":null,"pmid":null,"pmcid":null,"mag_id":2123876595,"dblp_id":"journals/tac/JiFEB08","acl_id":null,"title":"Containment Control in Mobile Networks","year":2008,"publication_date":"2008-09-23","venue":"IEEE Transactions on Automatic Control","journal":{"name":"IEEE Transactions on Automatic Control","pages":"1972-1975","volume":"53"},"journal_issn":null,"journal_title":null,"publication_types":["JournalArticle"],"pubmed_pub_types":null,"s2_fields_of_study":["Mathematics","Computer Science","Engineering"],"reference_count":23,"citation_count":759,"influential_citation_count":39,"is_open_access":true,"arxiv_categories":null,"arxiv_license":null,"arxiv_journal_ref":null,"mesh_headings":null,"chemicals":null,"comments_corrections":null,"source_flags":1,"s2_open_access_pdf_url":"http://repository.gatech.edu/bitstreams/34e56395-43e7-4b71-bf63-423fc6860459/download","s2_open_access_landing_url":"https://www.semanticscholar.org/paper/3009a550ff5fb327b1dc3c53630e26cd74e365e5","s2_open_access_license":null,"s2_open_access_status":"GREEN","pmc_open_access_pdf_url":null,"pmc_open_access_landing_url":null,"pmc_open_access_license":null,"pmc_open_access_status":null,"unpaywall_open_access_pdf_url":null,"unpaywall_open_access_landing_url":null,"unpaywall_open_access_license":null,"unpaywall_open_access_status":null,"abstract":"In this paper, the problem of driving a collection of mobile robots to a given target destination is studied. In particular, we are interested in achieving this transfer in an orderly manner so as to ensure that the agents remain in the convex polytope spanned by the leader-agents, while the remaining agents, only employ local interaction rules. To this aim we exploit the theory of partial difference equations and propose hybrid control schemes based on stop-go rules for the leader-agents. Non-Zenoness, liveness and convergence of the resulting system are also analyzed.","claims":[{"public_id":"cl_e190ec884e75b42e4228f5212beba4f2","status":"active","text":"Hybrid control schemes based on stop-go rules for the leader-agents are proposed for transferring mobile robots to a target destination while keeping the agents inside the convex polytope spanned by the leaders.","confidence":0.98,"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/claims/cl_e190ec884e75b42e4228f5212beba4f2"},{"public_id":"cl_7e059f1857dfdb2121036f173bf5163c","status":"active","text":"Non-Zenoness, liveness, and convergence of the resulting system are analyzed.","confidence":0.97,"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/claims/cl_7e059f1857dfdb2121036f173bf5163c"},{"public_id":"cl_c2737c1d063864d5ef58938a2629bab1","status":"active","text":"Partial difference equation theory is used to formulate the containment control approach for the mobile network.","confidence":0.91,"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/claims/cl_c2737c1d063864d5ef58938a2629bab1"}],"concepts":[{"public_id":"co_2ddc6b38b245770ce9b39f4c7c0e2e11","status":"active","name":"convergence","description":"The tendency of the system state to approach a desired limit or target configuration.","types":["system property"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_2ddc6b38b245770ce9b39f4c7c0e2e11"},{"public_id":"co_387f81ca0532b1dcbf563a18c901d39b","status":"active","name":"stop-go rules","description":"Switching rules that alternate between stopping and moving behaviors for the leaders.","types":["control rule"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_387f81ca0532b1dcbf563a18c901d39b"},{"public_id":"co_3b0514afc406aabe76484028bcc4ef9b","status":"active","name":"convex polytope spanned by the leader-agents","description":"The convex region formed by the positions of the leader agents, used as the containment set.","types":["geometric region"],"aliases":["convex polytope","leader hull"],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_3b0514afc406aabe76484028bcc4ef9b"},{"public_id":"co_475cd9259287fbd44ec7ca5ce01815a1","status":"active","name":"containment control","description":"A control objective in which agents are driven to remain within a region determined by leader agents.","types":["control objective"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_475cd9259287fbd44ec7ca5ce01815a1"},{"public_id":"co_4876cde72737ef6249d1abcdb0fe619b","status":"active","name":"partial difference equations","description":"A mathematical framework for describing dynamics on discrete spatial structures or networks.","types":["mathematical framework"],"aliases":["PDEs"],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_4876cde72737ef6249d1abcdb0fe619b"},{"public_id":"co_4b16e9348efe9f253d74a63bd8d57d76","status":"active","name":"non-Zenoness","description":"A property ensuring that infinitely many switches or events do not occur in finite time.","types":["system property"],"aliases":["non-Zeno behavior"],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_4b16e9348efe9f253d74a63bd8d57d76"},{"public_id":"co_56c4b8aedb02a27a8f0e035cc16f7dc6","status":"active","name":"mobile robots","description":"Robotic agents that move through an environment and are controlled as part of the network.","types":["robot"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_56c4b8aedb02a27a8f0e035cc16f7dc6"},{"public_id":"co_7adb2bfa9ecb53d93955e32160c7e06a","status":"active","name":"target destination","description":"The specified destination that the robot collection is driven toward.","types":["goal"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_7adb2bfa9ecb53d93955e32160c7e06a"},{"public_id":"co_7ef79420b81c29b7fffc82122786ef2f","status":"active","name":"liveness","description":"A property indicating that the system continues to make progress toward its intended behavior.","types":["system property"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_7ef79420b81c29b7fffc82122786ef2f"},{"public_id":"co_8ca4a423ceb92b928bc38863da84a736","status":"active","name":"leader-agents","description":"Designated agents whose motion influences the collective containment region and transfer behavior.","types":["agent role"],"aliases":["leaders"],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_8ca4a423ceb92b928bc38863da84a736"},{"public_id":"co_ace729649dfa86852210625caae04cab","status":"active","name":"mobile networks","description":"A networked collection of moving agents or robots that interact and coordinate.","types":["multi-agent system"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_ace729649dfa86852210625caae04cab"},{"public_id":"co_cb5e989b93c03c4acc0039f038190dea","status":"active","name":"hybrid control schemes","description":"Control strategies combining different modes or switching behaviors.","types":["control method"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_cb5e989b93c03c4acc0039f038190dea"},{"public_id":"co_f9d484cc596d4985ad51693d85eb6ae6","status":"active","name":"local interaction rules","description":"Control or update rules that use only information from nearby or connected agents.","types":["interaction rule"],"aliases":[],"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/concepts/co_f9d484cc596d4985ad51693d85eb6ae6"}],"external_ids":{"DOI":"10.1109/TAC.2008.930098","ArXiv":null,"PubMed":null,"PubMedCentral":null,"MAG":2123876595,"DBLP":"journals/tac/JiFEB08","ACL":null},"open_access":{"is_open_access":true,"pdf_url":"http://repository.gatech.edu/bitstreams/34e56395-43e7-4b71-bf63-423fc6860459/download","landing_url":"https://www.semanticscholar.org/paper/3009a550ff5fb327b1dc3c53630e26cd74e365e5","source":"semantic_scholar","pdf_url_source":"semantic_scholar_open_access_pdf","license":null,"status":"GREEN","reason":null},"reference_availability":{"status":"available","references_indexed":true,"full_text_available":false,"full_text_source":null,"count_basis":"semantic_scholar_metadata","extraction_status":"not_applicable","reason":null},"source":{"provider":"episteme2","base_corpus":"semantic_scholar_dump","freshness_mode":"unknown","basis":["semantic_scholar_metadata","postgres_metadata"],"limits":["paper metadata is based on indexed upstream scholarly datasets","claims and concepts are available only for extracted papers","absence of claims or concepts means no extracted graph data is available in this response"],"status":"available","degraded":false,"degraded_reasons":[],"diagnostics":{"status":"available","degraded":false,"degraded_reasons":[],"metadata_status":"available","graph_status":"available","abstract_status":"available"},"source_flags":1},"paper_id":638355,"paper_uid":"e4b48d05-1d33-411d-bfe2-1aef25f9e6b3","canonical_identity":{"paper_id":638355,"paper_uid":"e4b48d05-1d33-411d-bfe2-1aef25f9e6b3","identity_status":"available","lookup_basis":"semantic_scholar_external_id","compatibility_path":"corpus_id"},"url":"https://sah.borca.ai/papers/4812106"}