Collision avoidance and connectivity preservation using asymmetric barrier Lyapunov function with time-varying distance-constraints

DOI10.1016/J.SYSCONLE.2023.105672MaRDI QIDQ6131462zbMATH OpenOpenAlexFDO

Authors Shubham Singh, Anoop Jain

Publication date 5 April 2024

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.sysconle.2023.105672

zbMATH Keywords

formation controlmulti-agent systemscollision avoidanceconnectivity preservationasymmetric barrier Lyapunov function

Mathematics Subject Classification ID

Lyapunov and storage functions (93D30) Multi-agent systems (93A16)

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Cited in

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• Safe region multi-agent formation control with velocity tracking

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