A control Lyapunov function approach to multi-agent coordination

By Petter Ögren, Magnus Egerstedt, Xiaoming Hu. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), 2001

511 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Networks and Communications

View Paper: https://www.semanticscholar.org/paper/74a226b894f994f858296ff87255a934670e8f0b

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In Aerospace Engineering

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Citations in the corpus

Multi-Agent Coordination by Decentralized Estimation and Control (2008, background): “In addition, formation control is one of the most-studied problems in decentralized control [1], [9], [11], [18]–[21], [24], [25], [29], [35], [36], [43], [44].”
Formation feedback control for multiple spacecraft via virtual structures (2004, methodology): “In [6], error feedback is incorporated to the virtual leader through parameterized trajectories.”
Cooperative Filters and Control for Cooperative Exploration (2010, unknown): “Comparing to existing formation control and stability results for formation with fixed shape and orientation (for example, [53], [54]), this controller is much simpler and its stability is easy to prove.”
Application of Synchronization to Formation Flying Spacecraft: Lagrangian Approach (2008, background): “The consensus and the coordination of multi-agent systems [22], [26], [27] are closely related with the synchronization problem.”
Potential Fields for Maintaining Connectivity of Mobile Networks (2007, background): “Various approaches have been studied, such as, control laws that involve graph Laplacians for the fixed (or switched) associated neighborhood graphs and artificial potential functions [7] or Lyapunov function methods [9], where the notion of “formation feedback” as a means to regulate agent motion i”
Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots (2008, background): “Among all the topics of study in this field, this paper focuses on the formation control, which means to control a group of robots to form up and to move in specified geometrical shapes [1], [2].”
Formation control: a review and a new consideration (2005, methodology): “Graph theory is an important tool in the stability analysis of the formations.”
Coordination of groups of mobile autonomous agents using nearest neighbor rules (2002, methodology): “[16] uses control Lyapunov function-based ideas to analyze formation stability, while Fax and Murray [17] and Desai et al.”
A class of attractions/repulsion functions for stable swarm aggregations (2004, methodology): “We present stability analysis for several cases of the functions considered to characterize swarm cohesiveness, size and ultimate motions while in a cohesive group.”
Formation Tracking Control of Unicycle-Type Mobile Robots With Limited Sensing Ranges (2008, methodology): “A nice application of formation control based on the potential field method [2] and Lyapunov’s direct method [8] to gradient climbing was recently addressed in [9].”