Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents

Figure 9

Scenario 3. The evolutionary behavior of the Lyapunov function, its time derivative, and its control inputs along the trajectories of Figure 10. (a) Lyapunov function. (b) Lyapunov function time derivative. (c) Controllers.

(a)

(b)

(c)