Analysis of decentralized potential field based multi-agent navigation via primal-dual Lyapunov theory

We use a combination of primal and dual Lyapunov theory for almost global asymptotic stabilization and collision avoidance in multi-agent systems. Previous work provided local analysis around the critical points with the use of the dual Lyapunov technique. This paper provides analysis of the whole workspace with the use of the recently introduced combined use of primal and dual Lyapunov functions.