Disentangled Control of Multi-Agent Systems
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_ | 1866911637273837568 |
|---|---|
| author | Lin, Ruoyu Notomista, Gennaro Egerstedt, Magnus |
| author_facet | Lin, Ruoyu Notomista, Gennaro Egerstedt, Magnus |
| contents | This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves decentralization without inducing dynamical coupling among agents, and it naturally supports multi-objective robotics and real-time implementation. To demonstrate its generality and effectiveness, the framework is applied to solve three representative problems, namely time-varying leader-follower formation control, decentralized coverage control for time-varying density functions without approximations, which is a long-standing open problem, and safe formation navigation in a dense environment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_05900 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Disentangled Control of Multi-Agent Systems Lin, Ruoyu Notomista, Gennaro Egerstedt, Magnus Systems and Control Robotics This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves decentralization without inducing dynamical coupling among agents, and it naturally supports multi-objective robotics and real-time implementation. To demonstrate its generality and effectiveness, the framework is applied to solve three representative problems, namely time-varying leader-follower formation control, decentralized coverage control for time-varying density functions without approximations, which is a long-standing open problem, and safe formation navigation in a dense environment. |
| title | Disentangled Control of Multi-Agent Systems |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2511.05900 |