Satisficing Control for Multi-agent Formation Maneuvers

In this paper, robustly satis cing controls based on control Lyapunov functions are applied to multi-agent formation problems. We show that under certain conditions a group of satis cing control laws chosen from the robustly satis cing set can guarantee bounded formation keeping error, nite completion time, and reasonable formation velocity as well as inverse optimality and desirable stability margins. This technique is applied to a group of nonholonomic robots in simulation as a proof of concept