A control Lyapunov function approach to multiagent coordination

TLDR

The paper studies multiagent coordination. The authors address the problem for robots admitting control Lyapunov functions. They prove theorems on formation maintenance, task completion time, and formation velocity, show how to relax the per‑robot control Lyapunov function requirement, and give an example illustrating the method’s soundness.

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.