Centre for Autonomous Systems

A Control Lyapunov Function

Approach to
Multi Agent Coordination
P. gren, M. Egerstedt* and X. Hu
Royal Institute of Technology (KTH), Stockholm
and Georgia Institute of Technology*
IEEE Transactions on Robotics and Automation, Oct 2002

Petter gren

CAS talk

Centre for Autonomous Systems

Multi Agent Robotics

Applications:
Search and rescue
missions
Spacecraft inferometry
Reconfigurable sensor
array
Carry large/awkward
objects
Formation flying

Petter gren

CAS talk

Motivation:
Flexibility
Robustness
Price
Efficiency
Feasibility

Centre for Autonomous Systems

Problem and Proposed Solution

Problem: How to make set-point controlled
robots moving along trajectories in a formation
wait for eachother?
Idea: Combine Control Lyapunov Functions
(CLF) with the Egerstedt&Hu virtual vehicle
approach.
Under assumptions this will result in:
Bounded formation error (waiting)
Approx. of given formation velocity (if no waiting is
nessesary).
Finite completion time (no 1-waiting).
Petter gren

CAS talk

Centre for Autonomous Systems

Quantifying Formation Keeping

Definition: Formation Function

Will add Lyapunov like assumption satisfied by

individual set-point controllers. =>
Think of as parameterized Lyapunov function.
Petter gren

CAS talk

Centre for Autonomous Systems

Examples of Formation Function

Simple linear example !

A CLF for the combined
higher dimensional
system:
Note that a,b, are design
parameters.
The approach applies to
any parameterized
formation scheme with
lyapunov stability results.
Petter gren

CAS talk

Centre for Autonomous Systems

Main Assumption
We can find a class K function s such that the
given set-point controllers satisfy:

This can be done when -dV/dt is lpd, V is lpd

and decrescent. It allows us to prove:
Bounded V (error): V(x,s) < VU
Bounded completion time.
Keeping formation velocity v0, if V VU.
Petter gren

CAS talk

Centre for Autonomous Systems

Speed along trajectory:

How Do We Update s?
Suggestion: s=v0 t
Problems: Bounded ctrl
or local ass stability
We want:
V to be small
Slowdown if V is large
Speed v0 if V is small
Suggestion:
Let s evolve with
feedback from V.

Petter gren

CAS talk

Centre for Autonomous Systems

Evolution of s

Choosing

to be:

We can prove:
Bounded V (error): V(x,s) < VU
Bounded completion time.
Keeping formation velocity v0, if V VU.
Petter gren

CAS talk

Centre for Autonomous Systems

Proof sketch: Formation error

Petter gren

CAS talk

Centre for Autonomous Systems

Proof sketch: Finite Completion Time

Find lower bound on ds/dt

Petter gren

CAS talk

10

Centre for Autonomous Systems

The Unicycle Model,

Dynamic and Kinematic

Beard (2001) showed

that the position of an
off axis point x can be
feedback linearized to:

Petter gren

CAS talk

11

Centre for Autonomous Systems

Example: Formation

Three unicycle
robots along
trajectory.
VU=1, v0=0.1, then
v0=0.3 ! 0.27
Stochastic
measurement error
in top robot at 12m
mark.

Petter gren

CAS talk

12

Centre for Autonomous Systems

Extending Work by Beard et. al.

Satisficing Control for Multi-Agent Formation
Maneuvers, in proc. CDC 02
It is shown how to find an explicit
parameterization of the stabilizing controllers
that fulfills the assumption
These controllers are also inverse optimal and
have robustness properties to input
disturbances
Implementation
Petter gren

CAS talk

13

Centre for Autonomous Systems

What if dV/dt <= 0 ?

If we have semidefinite
and stability by
La Salles principle we choose as:

By a renewed La Salle argument we can

still show: V<=VU , s! sf and x! xf.
But not: Completion time and v0.

Petter gren

CAS talk

14

Centre for Autonomous Systems

Another extension:
Formations with a Mission: Stable
Coordination of Vehicle Group Maneuvers
Petter Ogren

Edward Fiorelli and Naomi Ehrich Leonard

petter@math.kth.se

eddie@princeton.edu, naomi@princeton.edu

Optimization and Systems Theory

Mechanical and Aerospace Engineering

Royal Institute of Technology, Sweden

Princeton University, USA

Mathematical Theory of Networks and Systems (MTNS 02)

Visit: http://graham.princeton.edu/ for related information

Petter gren

CAS talk

15

Approach: Use artificial potentials and virtual body

Centre for Autonomous Systems

with dynamics.
Configuration space of virtual body is
for orientation, position and expansion factor:

Because of artificial potentials, vehicles in formation will

translate, rotate, expand and contract with virtual body.
To ensure stability and convergence, prescribe virtual body
dynamics so that its speed is driven by a formation error.

Define direction of virtual body dynamics to satisfy mission.

Partial decoupling: Formation guaranteed independent of mission.
Prove convergence of gradient climbing.
Petter gren

CAS talk

16

Centre for Autonomous Systems

Conclusions

Moving formations by using Control

Lyapunov Functions.
Theoretical Properties:
V <= VU, error
T < TU, time
v v0 velocity

Extension used for translation, rotation

and expansion in gradient climbing
mission
Petter gren

CAS talk

17

Centre for Autonomous Systems

Related Publications

A Convergent DWA approach to Obstacle

Avoidance
Formally validated
Merge of previous methods using new
mathematical framework

Obstacle Avoidance in Formation

Formally validated
Extending concept of Configuration Space
Obstacle to formation case, thus decoupling
formation keeping from obstacle avoidance
Petter gren

CAS talk

18