Authors
Petter Ogren, Magnus Egerstedt, Xiaoming Hu
Publication date
2002
Journal
IEEE Transactions on Robotics and Automation
Volume
18
Publisher
IEEE
Description
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.
Total citations
Scholar articles
P Ogren, M Egerstedt, X Hu - Proceedings of the 40th IEEE Conference on Decision …, 2001