DocumentCode
2199331
Title
A control Lyapunov function approach to multi-agent coordination
Author
Ögren, P. ; Egerstedt, M. ; Hu, X.
Author_Institution
Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden
Volume
2
fYear
2001
fDate
2001
Firstpage
1150
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; multi-agent systems; multi-robot systems; control Lyapunov function; formation maintenance; formation velocity; multiagent coordination; robots; task completion time; Control systems; Lyapunov method; Motion control; Nonlinear dynamical systems; Robot control; Robot kinematics; Robustness; Terminology; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.981040
Filename
981040
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