Work

High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations

Year: 2024

Type: conference-paper

Abstract: This paper investigates the robustness of a novel high-dimensional continuification control method for complex multi-agent systems. We begin by formulating a partial differential equation describing the spatio-temporal density dynamics of swarming agents. A stable control action for the density is then derived and validated under nominal conditions. Subsequently, we discretize this macroscopic strategy into actionable velocity inputs for the system’s agents. Our analysis demonstrates the robustness of the approach beyond idealized assumptions of unlimited sensing and absence of perturbations.

Source: Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes

Authors: Gian Carlo Maffettone, Mario Di Bernardo, Maurizio Porfiri

Institutions: Scuola Superiore Meridionale, New York University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funders: National Science Foundation, Division of Civil, Mechanical and Manufacturing Innovation

Award: CPS: Medium: Accurate and Efficient Collective Additive Manufacturing by Mobile Robots

OpenAlex ID: W4407949390

FWCI:

Cites: 10

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Related to: 10