Analysis of decentralized potential field based multi-agent navigation via primal-dual Lyapunov theory

Author(s)
Dimarogonas, Dimos V.; Frazzoli, Emilio
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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.
Date issued
2010-12
URI
http://hdl.handle.net/1721.1/65637
Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics; Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
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
Other identifiers
INSPEC Accession Number: 11848729
ISBN
978-1-4244-7745-6
ISSN
0743-1546
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