  Finite-time motion planning with collision avoidance is a challenging issue
in multi-agent systems. This paper proposes a novel distributed controller
based on a new Lyapunov barrier function which guarantees finite-time stability
for multi-agent systems without collisions. First, the problem of finite-time
motion planning of multi-agent systems is formulated. Then, a novel finite-time
distributed controller is developed based on a Lyapunov barrier function.
Finally, numerical simulations demonstrate the effectiveness of proposed
method.
