Stability analysis for the Null-Space-based Behavioral control for multi-robot systems

Stability analysis for the Null-Space-based Behavioral control for multi-robot systems. Antonelli, G., Arrichiello, F., & Chiaverini, S. In Proceedings of the IEEE Conference on Decision and Control, 2008.
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A wide number of mobile multi-robot systems makes use of behavior-based approaches to accomplish their missions. However, despite the advantages in term of flexibility and versatility, the behavior-based approaches often lack of a rigorous stability analysis; when the latter is present it is only valid for specific missions. A behavior based-approach for the control of different robotic systems, namely the Null-Space-based Behavioral control, has been recently proposed. In this paper, its general stability analysis is discussed following a Lyapunov-based approach; moreover, effective conditions are given to verify that the behaviors of specific missions are properly defined and merged. Finally, the stability of several missions for multi-robot systems is discussed. © 2008 IEEE.

@inproceedings{Antonelli2008d,
  author = {Antonelli, Gianluca and Arrichiello, Filippo and Chiaverini, Stefano},
  title = {Stability analysis for the Null-Space-based Behavioral control for multi-robot systems},
  booktitle = {Proceedings of the IEEE Conference on Decision and Control},
  doi = {10.1109/CDC.2008.4738697},
  issn = {ISSN(print='07431546', electronic='25762370')},
  abstract = {A wide number of mobile multi-robot systems makes use of behavior-based approaches to accomplish their missions. However, despite the advantages in term of flexibility and versatility, the behavior-based approaches often lack of a rigorous stability analysis; when the latter is present it is only valid for specific missions. A behavior based-approach for the control of different robotic systems, namely the Null-Space-based Behavioral control, has been recently proposed. In this paper, its general stability analysis is discussed following a Lyapunov-based approach; moreover, effective conditions are given to verify that the behaviors of specific missions are properly defined and merged. Finally, the stability of several missions for multi-robot systems is discussed. © 2008 IEEE.},
  year = {2008},
}

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