Title :
A control Lyapunov function approach to multiagent coordination
Author :
Ögren, Petter ; Egerstedt, Magnus ; Hu, Xiaoming
Author_Institution :
Div. of Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden
fDate :
10/1/2002 12:00:00 AM
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; differential equations; mobile robots; multi-agent systems; multi-robot systems; Lyapunov methods; coordinated control; differential equations; formation maintenance; mobile robots; multiple agent coordination; multiple robot system; robot formation control; task completion time; Control systems; Lyapunov method; Mobile robots; Motion control; Multirobot systems; Nonlinear dynamical systems; Robot control; Robot kinematics; Robustness; Terminology;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2002.804500
