A Continuification-Based Control Solution for Large-Scale Shepherding
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866929581961773056 |
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| author | Di Lorenzo, Beniamino Maffettone, Gian Carlo di Bernardo, Mario |
| author_facet | Di Lorenzo, Beniamino Maffettone, Gian Carlo di Bernardo, Mario |
| contents | 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 designated goal region through indirect interactions with a controllable set of leader agents (herders). Our approach transforms the microscopic agent-based dynamics into a macroscopic continuum model via partial differential equations (PDEs). This formulation enables efficient, scalable control design for the herders' behavior, with guarantees of global convergence. Numerical and experimental validations in a mixed-reality swarm robotics framework demonstrate the method's effectiveness. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_04791 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Continuification-Based Control Solution for Large-Scale Shepherding Di Lorenzo, Beniamino Maffettone, Gian Carlo di Bernardo, Mario Systems and Control 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 designated goal region through indirect interactions with a controllable set of leader agents (herders). Our approach transforms the microscopic agent-based dynamics into a macroscopic continuum model via partial differential equations (PDEs). This formulation enables efficient, scalable control design for the herders' behavior, with guarantees of global convergence. Numerical and experimental validations in a mixed-reality swarm robotics framework demonstrate the method's effectiveness. |
| title | A Continuification-Based Control Solution for Large-Scale Shepherding |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2411.04791 |