• DocumentCode
    2572769
  • Title

    Analysis of decentralized potential field based multi-agent navigation via primal-dual Lyapunov theory

  • Author

    Dimarogonas, Dimos V. ; Frazzoli, Emilio

  • Author_Institution
    Lab. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA
  • fYear
    2010
  • fDate
    15-17 Dec. 2010
  • Firstpage
    1215
  • Lastpage
    1220
  • Abstract
    We use a combination of primal and dual Lyapunov theory for almost global asymptotic stabilization and collision avoidance in multi-agent systems. Previous work provided local analysis around the critical points with the use of the dual Lyapunov technique. This paper provides analysis of the whole workspace with the use of the recently introduced combined use of primal and dual Lyapunov functions.
  • Keywords
    Lyapunov methods; aerospace robotics; air traffic control; asymptotic stability; collision avoidance; decentralised control; multi-agent systems; multi-robot systems; asymptotic stabilization; collision avoidance; decentralized potential field; local analysis; multiagent navigation; primal-dual Lyapunov theory; Collision avoidance; Convergence; Density functional theory; Equations; Navigation; Nickel; Robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control (CDC), 2010 49th IEEE Conference on
  • Conference_Location
    Atlanta, GA
  • ISSN
    0743-1546
  • Print_ISBN
    978-1-4244-7745-6
  • Type

    conf

  • DOI
    10.1109/CDC.2010.5717432
  • Filename
    5717432
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2572769