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dc.contributor.authorÖgren, Petter
dc.contributor.authorEgerstedt, Magnus B.
dc.contributor.authorHu, Xiaoming
dc.date.accessioned2011-04-18T14:24:38Z
dc.date.available2011-04-18T14:24:38Z
dc.date.issued2002-10
dc.identifier.citationP. 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.en_US
dc.identifier.issn1042-296X
dc.identifier.urihttp://hdl.handle.net/1853/38563
dc.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.en_US
dc.descriptionDigital Object Identifier 10.1109/TRA.2002.804500
dc.description.abstractIn 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectCoordinated controlen_US
dc.subjectLyapunov methodsen_US
dc.subjectMobile robotsen_US
dc.subjectMulti-robot systemsen_US
dc.subjectRobot formation controlen_US
dc.titleA Control Lyapunov Function Approach to Multi-Agent Coordinationen_US
dc.typeArticleen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameKungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
dc.contributor.corporatenameKungl. Tekniska Högskolan. Centrum för Autonoma System
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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