Title :
A control Lyapunov function approach to multi-agent coordination
Author :
Ögren, P. ; Egerstedt, M. ; Hu, X.
Author_Institution :
Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden
Abstract :
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
Keywords :
Lyapunov methods; multi-agent systems; multi-robot systems; control Lyapunov function; formation maintenance; formation velocity; multiagent coordination; robots; task completion time; Control systems; Lyapunov method; Motion control; Nonlinear dynamical systems; Robot control; Robot kinematics; Robustness; Terminology; Vehicle dynamics; Vehicles;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.981040
