Approximating the Region of Multi-Task Coordination via the Optimal Lyapunov-Like Barrier Function.

Abstract

We consider the multi-task coordination problem for multi-agent systems under the following objectives: 1. collision avoidance; 2. connectivity maintenance; 3. convergence to desired destinations. The paper focuses on the safety guaranteed region of multi-task coordination (SG-RMTC), i.e., the set of initial states from which all trajectories converge to the desired configuration, while at the same time achieve the multi-task coordination and avoid unsafe sets. In contrast to estimating the domain of attraction via Lyapunov functions, the main underlying idea is to employ the sublevel sets of Lyapunov-like barrier functions to approximate the SG-RMTC. Rather than using fixed Lyapunov-like barrier functions, a systematic way is proposed to search an optimal Lyapunov-like barrier function such that the under-estimate of SG-RMTC is maximized. Numerical examples illustrate the effectiveness of the proposed method.

Bib

@inproceedings{DBLP:conf/amcc/HanHP18,
  author       = {Dongkun Han and
                  Lixing Huang and
                  Dimitra Panagou},
  title        = {Approximating the Region of Multi-Task Coordination via the Optimal
                  Lyapunov-Like Barrier Function},
  booktitle    = {2018 Annual American Control Conference, {ACC} 2018, Milwaukee, WI,
                  USA, June 27-29, 2018},
  pages        = {5070--5075},
  publisher    = {{IEEE}},
  year         = {2018},
  url          = {https://doi.org/10.23919/ACC.2018.8431021},
  doi          = {10.23919/ACC.2018.8431021},
  timestamp    = {Sun, 08 Aug 2021 01:40:57 +0200},
  biburl       = {https://dblp.org/rec/conf/amcc/HanHP18.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}