Heterogeneous Multi-Agent Multi-Target Tracking using Cellular Sheaves
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arXiv
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| Hauptverfasser: | , , , , , |
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| Format: | Preprint |
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2025
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| author | Hanks, Tyler Nino, Cristian F. Barcelo, Joana Bou Copeland, Austin Dixon, Warren Fairbanks, James |
| author_facet | Hanks, Tyler Nino, Cristian F. Barcelo, Joana Bou Copeland, Austin Dixon, Warren Fairbanks, James |
| contents | Multi-agent target tracking in the presence of nonlinear dynamics and agent heterogeneity, where state-space dimensions may differ, is a challenging problem that traditional graph Laplacian methods cannot easily address. This work leverages the framework of cellular sheaves, a mathematical generalization of graph theory, to natively model such heterogeneous systems. While existing coordination sheaf frameworks focus on cooperative problems like consensus, this work extends them to the non-cooperative target-tracking problem. The tracking of multiple, unknown targets is formulated as a harmonic extension problem on a cellular sheaf, accommodating nonlinear dynamics and external disturbances for all agents. A decentralized control law is developed using the sheaf Laplacian, and a corresponding Lyapunov-based stability analysis is provided to guarantee tracking error convergence, with results validated by simulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_24886 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Heterogeneous Multi-Agent Multi-Target Tracking using Cellular Sheaves Hanks, Tyler Nino, Cristian F. Barcelo, Joana Bou Copeland, Austin Dixon, Warren Fairbanks, James Systems and Control Multiagent Systems Algebraic Topology Multi-agent target tracking in the presence of nonlinear dynamics and agent heterogeneity, where state-space dimensions may differ, is a challenging problem that traditional graph Laplacian methods cannot easily address. This work leverages the framework of cellular sheaves, a mathematical generalization of graph theory, to natively model such heterogeneous systems. While existing coordination sheaf frameworks focus on cooperative problems like consensus, this work extends them to the non-cooperative target-tracking problem. The tracking of multiple, unknown targets is formulated as a harmonic extension problem on a cellular sheaf, accommodating nonlinear dynamics and external disturbances for all agents. A decentralized control law is developed using the sheaf Laplacian, and a corresponding Lyapunov-based stability analysis is provided to guarantee tracking error convergence, with results validated by simulation. |
| title | Heterogeneous Multi-Agent Multi-Target Tracking using Cellular Sheaves |
| topic | Systems and Control Multiagent Systems Algebraic Topology |
| url | https://arxiv.org/abs/2512.24886 |