Distributed Coordination Control for Multi-Robot Networks Using Lyapunov-Like Barrier Functions

8 years 9 days ago

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This paper addresses the problem of multi-agent coordination and control under multiple objectives, and presents a set-theoretic formulation amenable to Lyapunov-based analysis and control design. A novel class of Lyapunovlike barrier functions is introduced and used to encode multiple, non-trivial control objectives, such as collision avoidance, proximity maintenance and convergence to desired destinations. The construction is based on recentered barrier functions and on maximum approximation functions. Thus, a single Lyapunov-like function is used to encode the constrained set of each agent, yielding simple, gradient-based control solutions. The derived control strategies are distributed, i.e., based on information locally available to each agent, which is dictated by sensing and communication limitations. Furthermore, the proposed coordination protocol dictates semi-cooperative conﬂict resolution among agents, which can be also thought as prioritization, as well as conﬂict reso...

Dimitra Panagou, Dusan M. Stipanovic, Petros G. Vo

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