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A control Lyapunov function approach to multiagent coordination

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3 Author(s)
Ogren, P. ; Div. of Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden ; Egerstedt, M. ; Xiaoming Hu

In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method.

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Robotics and Automation, IEEE Transactions on  (Volume:18 ,  Issue: 5 )