Related papers: Leader-Follower Density Control of Spatial Dynamic…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
We study a multiscale approach for the control of agent-based, two-population models. The control variable acts over one population of leaders, which influence the population of followers via the coupling generated by their interaction. We…
This paper introduces a novel decentralized implementation of a continuification-based strategy to control the density of large-scale multi-agent systems on the unit circle. While continuification methods effectively address micro-to-macro…
In the present paper we deal with an optimal control problem related to a model in population dynamics; more precisely, the goal is to modify the behavior of a given density of individuals via another population of agents interacting with…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
In this survey we consider mathematical models and methods recently developed to control crowd dynamics, with particular emphasis on egressing pedestrians. We focus on two control strategies: The first one consists in using special agents,…
We study the shepherding control problem where a group of "herders" need to orchestrate their collective behaviour in order to steer the dynamics of a group of "target" agents towards a desired goal. We relax the strong assumptions of…
This paper considers the problem of steering a vast group of agents of which the dynamics are governed by a discrete-time first-order linear system. The group of agents are characterized as a probability density function and an occupation…
In this paper we deal with pedestrian modeling, aiming at simulating crowd behavior in normal and emergency scenarios, including highly congested mass events. We are specifically concerned with a new agent-based, continuous-in-space,…
We analyze the dynamics of multi-agent collective behavior models and their control theoretical properties. We first derive a large population limit to parabolic diffusive equations. We also show that the non-local transport equations…
An important goal for swarming research is to create methods for predicting, controlling and designing swarms, which produce collective dynamics that solve a problem through emergent and stable pattern formation, without the need for…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
This paper examines resilient dynamic leader-follower consensus within multi-agent systems, where agents share first-order or second-order dynamics. The aim is to develop distributed protocols enabling nonfaulty/normal followers to…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
This paper addresses the problem of distributed control for leader-follower multi-agent systems under prescribed performance guarantees. Leader-follower is meant in the sense that a group of agents with external inputs are selected as…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
The focus of this paper is directed towards optimal control of multi-agent systems consisting of one leader and a number of followers in the presence of noise. The dynamics of every agent is assumed to be linear, and the performance index…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…