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A Control Lyapunov Function Approach to Multi-Agent Coordination
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7714-928X
2001 (English)Conference paper (Refereed)
Abstract [en]

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
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Computer and Information Science
URN: urn:nbn:se:kth:diva-90562DOI: 10.1109/.2001.981040OAI: diva2:505877
IEEE Conference on Decision and Control

QC 20130123

Available from: 2012-02-26 Created: 2012-02-26 Last updated: 2013-01-23Bibliographically approved

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Ögren, Petter
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Computer Vision and Active Perception, CVAP
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