Global Lyapunov functions and a hierarchical control scheme for networks of robotic agents
John Maidens, Michael Y. Li · 2013
We present a graph-theoretic method of systematically constructing global Lyapunov functions for large-scale, heterogeneous multi-agent networks with nonlinear dynamics. We illustrate the power of this method by demonstrating the stability of a control protocol for the self-organization of swarms of mobile agents into hierarchical formations.