High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations
Systems and Control
2025-04-10 v1 Systems and Control
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.
Keywords
Cite
@article{arxiv.2403.17191,
title = {High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations},
author = {Gian Carlo Maffettone and Mario di Bernardo and Maurizio Porfiri},
journal= {arXiv preprint arXiv:2403.17191},
year = {2025}
}
Comments
arXiv admin note: text overlap with arXiv:2310.01573