Emergent Structure in Multi-agent Systems Using Geometric Embeddings
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866913579858395136 |
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| author | Silveria, Dimitria Cabral, Kleber Jardine, Peter Givigi, Sidney |
| author_facet | Silveria, Dimitria Cabral, Kleber Jardine, Peter Givigi, Sidney |
| contents | This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scenarios, smooth, unbiased control signals save energy and mitigate mechanical strain. We propose a decentralized control system architecture that produces a globally stable emergent structure from local observations only; there is no requirement for agents to share a global plan or follow prescribed trajectories. Central to our approach is the formulation of an injective virtual embedding induced by rotations from the actual agent positions. This embedding serves as a structure-preserving map around which all agent stabilize their relative positions and permits the use of well-established linear control techniques. We construct the embedding such that it is topologically equivalent to the desired trajectory (i.e., a homeomorphism), thereby preserving the stability characteristics. We demonstrate the versatility of this approach through implementation on a swarm of Quanser QDrone quadcopters. Results demonstrate the quadcopters self-organize into the desired trajectory while maintaining even separation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_11142 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Emergent Structure in Multi-agent Systems Using Geometric Embeddings Silveria, Dimitria Cabral, Kleber Jardine, Peter Givigi, Sidney Systems and Control Robotics Geometric Topology This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scenarios, smooth, unbiased control signals save energy and mitigate mechanical strain. We propose a decentralized control system architecture that produces a globally stable emergent structure from local observations only; there is no requirement for agents to share a global plan or follow prescribed trajectories. Central to our approach is the formulation of an injective virtual embedding induced by rotations from the actual agent positions. This embedding serves as a structure-preserving map around which all agent stabilize their relative positions and permits the use of well-established linear control techniques. We construct the embedding such that it is topologically equivalent to the desired trajectory (i.e., a homeomorphism), thereby preserving the stability characteristics. We demonstrate the versatility of this approach through implementation on a swarm of Quanser QDrone quadcopters. Results demonstrate the quadcopters self-organize into the desired trajectory while maintaining even separation. |
| title | Emergent Structure in Multi-agent Systems Using Geometric Embeddings |
| topic | Systems and Control Robotics Geometric Topology |
| url | https://arxiv.org/abs/2411.11142 |