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10

TROB
2002

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A control Lyapunov function approach to multiagent coordination

13 years 3 months ago

A control Lyapunov function approach to multiagent coordination

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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.

Petter Ögren, Magnus Egerstedt, Xiaoming Hu

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Lyapunov Function | Multiagent Coordination Problem | Task Completion Time | TROB 2002 |

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Added	23 Dec 2010
Updated	23 Dec 2010
Type	Journal
Year	2002
Where	TROB
Authors	Petter Ögren, Magnus Egerstedt, Xiaoming Hu

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