High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866909572374986752 |
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| author | Maffettone, Gian Carlo di Bernardo, Mario Porfiri, Maurizio |
| author_facet | Maffettone, Gian Carlo di Bernardo, Mario Porfiri, Maurizio |
| contents | 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 density dynamics of swarming agents. A stable control action for the density is then derived and validated under nominal conditions. Subsequently, we discretize this macroscopic strategy into actionable velocity inputs for the system's agents. Our analysis demonstrates the robustness of the approach beyond idealized assumptions of unlimited sensing and absence of perturbations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_17191 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations Maffettone, Gian Carlo di Bernardo, Mario Porfiri, Maurizio Systems and Control 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 density dynamics of swarming agents. A stable control action for the density is then derived and validated under nominal conditions. Subsequently, we discretize this macroscopic strategy into actionable velocity inputs for the system's agents. Our analysis demonstrates the robustness of the approach beyond idealized assumptions of unlimited sensing and absence of perturbations. |
| title | High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.17191 |