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
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;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717432
