Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties

We present a decentralized, real-time, cooperative avoidance control law for a group of nonlinear Lagrangian systems with bounded control inputs, limited sensing ranges, and bounded sensing errors. The control formulation builds on the concept of avoidance control and uses Lyapunov-based analysis to guarantee collision-free trajectories for a group of N vehicles with sensing uncertainties. Advantages of the cooperative avoidance strategy include its easy synthesis with other stable control laws and its null effect on the agent´s main task when other vehicles and obstacles are sufficiently away. Two numerical examples are finally presented that illustrate the performance of the proposed control framework.