Satisficing control for multi-agent formation maneuvers

Abstract

In this paper, robustly satisficing controls based on control Lyapunov functions are applied to multiagent formation problems. We show that under certain conditions a group of satisficing control laws chosen from the robustly satisficing set can guarantee bounded formation keeping error, finite completion time, and reasonable formation velocity as well as inverse optimality and desirable stability margins. This technique is applied to a group of nonholonomic robots in simulation as a proof of concept.