A control Lyapunov function approach to multiagent coordination

@article{gren2002ACL,
  title={A control Lyapunov function approach to multiagent coordination},
  author={Petter {\"O}gren and Magnus Egerstedt and Xiaoming Hu},
  journal={IEEE Trans. Robotics and Automation},
  year={2002},
  volume={18},
  pages={847-851}
}
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. 
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