1. Stabilization of Multiple Robots on Stable Orbits via Local Sensing Mong-ying A. Hsieh, Savvas Loizou and Vijay Kumar GRASP Laboratory, University of Pennsylvania
Decentralized controllers for a team of robots to converge to and travel along the boundary of star shaped sets
Collision avoidance is achieved by assigning priority to the agents based on their relative positions with one another and with respect to the desired boundary
Computational complexity of the decentralized controller is linear in the number of neighboring agents
Stability and convergence to a class of boundaries with guarantees on collision avoidance.