Analysis of decentralized potential field based multi-agent navigation via primal-dual Lyapunov theory
Name
Frazzoli-2010-Analysis of decentralized potential field based multi-agent navigation via primal-dual Lyapunov theory.pdf
Size
292.22 KB
Format
Adobe PDF
Checksum (MD5)
00d9ebd2c72e51f6380661a96eb52d75
Author(s)
Dimarogonas, Dimos V.
Frazzoli, Emilio
Date Issued
December 2010
Journal
Proceedings of the 49th IEEE Conference on Decision and Control (CDC), 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Dimarogonas, Dimos V., and Emilio Frazzoli. “Analysis of decentralized potential field based multi-agent navigation via primal-dual Lyapunov theory.” 49th IEEE Conference on Decision and Control, Dec. 15-17, 2010, Hilton Atlanta Hotel, Atlanta, GA, IEEE 2010. 1215-1220. ©2010 IEEE.
Version
Final published version
Abstract
We use a combination of primal and dual Lyapunov theory for almost global asymptotic stabilization and collision avoidance in multi-agent systems. Previous work provided local analysis around the critical points with the use of the dual Lyapunov technique. This paper provides analysis of the whole workspace with the use of the recently introduced combined use of primal and dual Lyapunov functions.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/CDC.2010.5717432
