A Control Lyapunov Function Approach to Multi-Agent Coordination

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38563

Title: A Control Lyapunov Function Approach to Multi-Agent Coordination
Author: Ögren, Petter ; Egerstedt, Magnus B. ; Hu, Xiaoming
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.
Description: (c) 2002 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier 10.1109/TRA.2002.804500
Type: Article
URI: http://hdl.handle.net/1853/38563
ISSN: 1042-296X
Citation: P. Ögren, M. Egerstedt, and X. Hu. A Control Lyapunov Function Approach to Multi-Agent Coordination. IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, pp. 847-851, Oct. 2002.
Date: 2002-10
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Kungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
Kungl. Tekniska Högskolan. Centrum för Autonoma System
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Coordinated control
Lyapunov methods
Mobile robots
Multi-robot systems
Robot formation control

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