On the Convergence of Multi-robot Constrained Navigation: A Parametric Control Lyapunov Function Approach
Bowen Weng,Hua Chen,Wei Zhang,Bowen Weng,Hua Chen,Wei Zhang
This paper studies the distributed multi-robot constrained navigation problem. While the multi-robot collision avoidance has been extensively studied in the literature with safety being the primary focus, the individual robot's destination convergence is not necessarily guaranteed. In particular, robots may get stuck in the local equilibria or periodic orbits of the multi-robot system, some of whi...
