{"paper":{"title":"Approximating the Region of Multi-Task Coordination via the Optimal Lyapunov-Like Barrier Function","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Dimitra Panagou, Dongkun Han, Lixing Huang","submitted_at":"2018-02-24T13:30:40Z","abstract_excerpt":"We consider the multi-task coordination problem for multi-agent systems under the following objectives: 1. collision avoidance; 2. connectivity maintenance; 3. convergence to desired destinations. The paper focuses on the safety guaranteed region of multi-task coordination (SG-RMTC), i.e., the set of initial states from which all trajectories converge to the desired configuration, while at the same time achieve the multi-task coordination and avoid unsafe sets. In contrast to estimating the domain of attraction via Lyapunov functions, the main underlying idea is to employ the sublevel sets of "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1802.09921","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}