Stability analysis for the Null-Space-based Behavioral control for multi-robot systems

A wide number of mobile multi-robot systems makes use of behavior-based approaches to accomplish their missions. However, despite the advantages in term of flexibility and versatility, the behavior-based approaches often lack of a rigorous stability analysis; when the latter is present it is only valid for specific missions. A behavior based-approach for the control of different robotic systems, namely the null space-based behavioral control, has been recently proposed. In this paper, its general stability analysis is discussed following a Lyapunov-based approach; moreover, effective conditions are given to verify that the behaviors of specific missions are properly defined and merged. Finally, the stability of several missions for multi-robot systems is discussed.