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/1853/38668

Title: A Control Lyapunov Function Approach to Multi-Agent Coordination
Author: Ögren, Petter ; Egerstedt, Magnus B. ; Hu, Xiaoming
Abstract: In this paper, the multi-agent 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) 2001 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/.2001.981040
Type: Proceedings
URI: http://hdl.handle.net/1853/38668
ISBN: 0-7803-7061-9
Citation: P. Ögren, M. Egerstedt, and X. Hu. A Control Lyapunov Function Approach to Multi-Agent Coordination. IEEE Conference on Decision and Control, Orlando, FL, Dec. 2001.
Date: 2001-12
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Harvard University. Division of Engineering and Applied Sciences
Kungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Multi-agent systems
Lyapunov methods
Multi-agent coordination

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