We present a novel strategy based on the use of contraction theory to coordinate motion in multiagent systems. We discuss two possible solutions to the rendezvous problem in planar roving agents by means of both linear and nonlinear communication protocols. Proofs of asymptotic stability are given together with the numerical validation of the theoretical results on a representative example.
|Translated title of the contribution||Solving the rendezvous problem for multi-agent systems using contraction theory|
|Title of host publication||International Conference on Decision and Control, 2009 (CDC/CCC 2009)|
|Pages||5821 - 5826|
|Number of pages||5|
|Publication status||Published - Dec 2009|