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Navigation measure is introduced as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of the navigation measure guarantees collision free convergence to the final destination set. Navigation measure can be viewed as a dual to the navigation function, a popular tool used in the motion planning literature today. While navigation function has its minimum at...
In this paper, we present a dynamical systems representation for multi-agent rendezvous on the phase plane. We restrict our attention to two agents, each with scalar dynamics. The problem of rendezvous is cast as a stabilization problem, with a set of constraints on the trajectories of the agents, defined on the phase plane. We also describe a method to generate control Lyapunov functions that when...
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