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A control Lyapunov function approach to multi-agent coordination
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7714-928X
2002 (English)In: IEEE transactions on robotics and automation, ISSN 1042-296X, Vol. 18, no 5, 847-851 p.Article in journal (Refereed) Published
Abstract [en]

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

Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2002. Vol. 18, no 5, 847-851 p.
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-90556DOI: 10.1109/TRA.2002.804500ISI: 000179502600016OAI: diva2:505869

QC 20130123

Available from: 2012-02-26 Created: 2012-02-26 Last updated: 2013-07-10Bibliographically approved

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