ELA, Volume 12, pp. 64-72, May 2005, abstract.  

Multi-Agent Avoidance Control Using an M-matrix Property  

Dusan M. Stipanovic, Sriram Shankaran, and Claire J. Tomlin  

In this paper a generalization of avoidance control for 
multi-agent dynamic systems is presented. Strategies for  
avoidance control for multiple agents are obtained using 
individual Liapunov-type functions. The overall system  
avoidance conditions are guaranteed using a vector  
Liapunov-type function via an M-matrix property.