Continuification control of large-scale multiagent systems under limited sensing and structural perturbations
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of the system dynamics into a macroscopic continuum-level, for which a control action can be synthesized to steer the macroscopic dynamics towards a desired distribution. Such an action is ultimately discretized to obtain a set of deployable control inputs for the agents to achieve the goal. The mathematical proof of convergence toward the desired distribution typically relies on the assumptions that no disturbance is present and that each agent possesses global knowledge of all the others' positions. Here, we analytically and numerically address the possibility of relaxing these assumptions for the case of a one-dimensional system of agents moving in a ring. We offer compelling evidence in favor of the use of a continuification-based strategy when agents only possess a finite sensing capability and spatio-temporal perturbations affect the macroscopic dynamics of the ensemble. We also discuss some preliminary results about the role of an integral action in the macroscopic control solution.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Continuification-based control of large multiagent systems in a ring
In this paper, we propose a method to control large-scale multiagent systems swarming in a ring. Specifically, we use a continuification-based approach that transforms the microscopic, agent-level description of the syst…
High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations
This paper investigates the robustness of a novel high-dimensional continuification control method for complex multi-agent systems. We begin by formulating a partial differential equation describing the spatio-temporal d…
Decentralized Continuification Control of Multi-Agent Systems via Distributed Density Estimation
This paper introduces a novel decentralized implementation of a continuification-based strategy to control the density of large-scale multi-agent systems on the unit circle. While continuification methods effectively add…
Density EstimationA Continuification-Based Control Solution for Large-Scale Shepherding
In this paper, we address the large-scale shepherding control problem using a continuification-based strategy. We consider a scenario in which a large group of follower agents (targets) must be confined within a designat…
Mixed RealityMean field limits for discrete-time dynamical systems via kernel mean embeddings
Mean field limits are an important tool in the context of large-scale dynamical systems, in particular, when studying multiagent and interacting particle systems. While the continuous-time theory is well-developed, few w…