Bio-inspired density control of multi-agent swarms via leader-follower plasticity
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866908882508447744 |
|---|---|
| author | Maffettone, Gian Carlo Boldini, Alain di Bernardo, Mario Porfiri, Maurizio |
| author_facet | Maffettone, Gian Carlo Boldini, Alain di Bernardo, Mario Porfiri, Maurizio |
| contents | The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower solution, which is aware of energy constraints of mobile agents and is apt to deal with large swarms. Akin to many natural systems, control objectives are formulated for the entire collective, and leaders and followers are allowed to plastically switch their role in time. We frame a density control problem, modeling the agents' population via a system of nonlinear partial differential equations. This approach allows for a compact description that inherently avoids the curse of dimensionality and improves analytical tractability. We derive analytical guarantees for the existence of desired steady-state solutions and their local stability for one-dimensional and higher-dimensional problems. We numerically validate our control methodology, offering support to the effectiveness, robustness, and versatility of our proposed bio-inspired control strategy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_15781 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Bio-inspired density control of multi-agent swarms via leader-follower plasticity Maffettone, Gian Carlo Boldini, Alain di Bernardo, Mario Porfiri, Maurizio Systems and Control The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower solution, which is aware of energy constraints of mobile agents and is apt to deal with large swarms. Akin to many natural systems, control objectives are formulated for the entire collective, and leaders and followers are allowed to plastically switch their role in time. We frame a density control problem, modeling the agents' population via a system of nonlinear partial differential equations. This approach allows for a compact description that inherently avoids the curse of dimensionality and improves analytical tractability. We derive analytical guarantees for the existence of desired steady-state solutions and their local stability for one-dimensional and higher-dimensional problems. We numerically validate our control methodology, offering support to the effectiveness, robustness, and versatility of our proposed bio-inspired control strategy. |
| title | Bio-inspired density control of multi-agent swarms via leader-follower plasticity |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2507.15781 |