Communication-aware Multi-agent Systems Control Based on $k$-hop Distributed Observers
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866929751573135360 |
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| author | Zaccherini, Tommaso Liu, Siyuan Dimarogonas, Dimos V. |
| author_facet | Zaccherini, Tommaso Liu, Siyuan Dimarogonas, Dimos V. |
| contents | We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time convergent state and input observer that exploits only the communication with the 1-hop neighbors to reconstruct the information regarding those agents at a 2-hop distance or more. We then demonstrate that if the k-hop based control strategy is set-Input to State Stable with respect to the set describing the goal, then the observer information can be adopted to achieve the team objective with stability guarantees. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_07246 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Communication-aware Multi-agent Systems Control Based on $k$-hop Distributed Observers Zaccherini, Tommaso Liu, Siyuan Dimarogonas, Dimos V. Systems and Control We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time convergent state and input observer that exploits only the communication with the 1-hop neighbors to reconstruct the information regarding those agents at a 2-hop distance or more. We then demonstrate that if the k-hop based control strategy is set-Input to State Stable with respect to the set describing the goal, then the observer information can be adopted to achieve the team objective with stability guarantees. |
| title | Communication-aware Multi-agent Systems Control Based on $k$-hop Distributed Observers |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.07246 |