A control lyapunov function approach to human-swarm interactions

In this paper, we seek to establish formal guarantees for whether or not a given human-swarm interaction (HSI) is appropriate for achieving multi-robot tasks. Examples of such tasks include guiding a swarm of robots into a particular geometric configuration. In doing so, we define what it means to impose a HSI control structure on a multi-robot system. Control Lyapunov functions (CLFs) are used to prove that it is feasible for a user to achieve a particular geometric configuration with a multi-robot system under some selected HSI control structure. Several examples of multi-robot systems with unique HSI control structures are provided to illustrated the use of CLFs to establish feasibility.