An application of Rantzer’s Dual Lyapunov Theorem to Decentralized Navigation


We provide a connection between Rantzer's dual Lyapunov theorem that appeared in A. Rantzer (2001) with decentralized navigation functions (DNFs). It is shown that when the agents' control law does not contain an element that forces them to cooperate with the rest of the team once they have reached their desired goal, global convergence cannot be guaranteed… (More)

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