A Control Lyapunov Function Approach to

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 con- trol Lyapunov function. An example is provided that illustrates the soundness of the method. Index Terms—Coordinated control, Lyapunov methods, mobile robots, multirobot system, robot formation control.

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