Invariant sets in finite-time stability of multi-mobile robots

The focus of the paper is to solve the finite-time stabilizing problem for multiple nonholonomic mobile robots around a target. Due to the directional behavior, the multi-agent system stability remains a challenging problem. Invariant and attractive sets are an interesting tool in defining navigation area of a group including target informations. In order to stabilize the group around a target, two kind of decentralized protocols are established. The first protocol considers only local informations from the concerned agent. However, the second Protocol incorporates both local information and those of the neighborhood. Lyapunov-based theory leading to the characterization of a such stable set is analyzed. Simulations are presented to illustrate the effectiveness of the multi-mobile robot protocols.