Stability and control of collective systems
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In this paper, decentralized, distributed feedback control laws are presented for cooperative robotic systems whose task is to localize unknown sources. The control laws follow from a second order representation of the source field. The stability of the proposed feedback control laws for the individual robots, and for the entire robot collective, is demonstrated using Lyapunov's direct method and a vector Lyapunov approach. Additional feedback control laws are proposed to achieve an additional level of coordination. In particular, control laws that achieve desired formations surrounding a localized source are developed.
