A control Lyapunov function approach to multiagent coordination

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.

• Type: Journal
• Year: 2002
• Where: TROB
• Authors: Petter Ögren, Magnus Egerstedt, Xiaoming Hu
• Keywords: Lyapunov Function, Multiagent Coordination Problem, Task Completion Time, TROB 2002