• A Control Lyapunov Function Approach to Multi-Agent Coordination 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      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 ...
    • A Control Lyapunov Function Approach to Multi-Agent Coordination 

      Ögren, Petter; Egerstedt, Magnus B.; Hu, Xiaoming (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-10)
      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 ...
    • Feedback Can Reduce the Specification Complexity of Motor Programs 

      Egerstedt, Magnus B.; Brockett, Roger W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-12)
      In this paper we show that when it is possible to use feedback in the specifications of "motor programs", the length of the descriptions of the instruction sequences for carrying out a given task can be reduced by a factor ...