A control Lyapunov function approach to multi-agent coordination
2002 (English)In: IEEE transactions on robotics and automation, ISSN 1042-296X, Vol. 18, no 5, 847-851 p.Article in journal (Refereed) Published
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
Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2002. Vol. 18, no 5, 847-851 p.
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-90556DOI: 10.1109/TRA.2002.804500ISI: 000179502600016OAI: oai:DiVA.org:kth-90556DiVA: diva2:505869
QC 201301232012-02-262012-02-262013-07-10Bibliographically approved