Lyapunov-based cooperative avoidance control for multiple Lagrangian systems with bounded sensing uncertainties

We present a decentralized, real-time, cooperative avoidance control law for a group of nonlinear Lagrangian systems with bounded control inputs, limited sensing ranges, and bounded sensing errors. The control formulation builds on the concept of avoidance control and uses Lyapunov-based analysis to guarantee collision-free trajectories for a group of N vehicles with sensing uncertainties. Advantages of the cooperative avoidance strategy include its easy synthesis with other stable control laws and its null effect on the agent's main task when other vehicles and obstacles are sufficiently away. Two numerical examples are finally presented that illustrate the performance of the proposed control framework.