A Control Lyapunov Function Approach to Multi-Agent Coordination
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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.
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2002-10
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