相关论文: High-dimensional continuification control of large…

We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of…

In this paper, we propose a method to control large-scale multiagent systems swarming in a ring. Specifically, we use a continuification-based approach that transforms the microscopic, agent-level description of the system dynamics into a…

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…

We consider control strategies for large-scale interacting agent systems under uncertainty. The particular focus is on the design of robust controls that allow to bound the variance of the controlled system over time. To this end we…

We review a body of recent work by the author and collaborators on controlling the spatial organisation of large agent populations across multiple scales. A central theme is the systematic bridging of microscopic agent-level dynamics and…

Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…

Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approximations of large ensembles. These techniques, that are…

We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…

In this paper, we address the large-scale shepherding control problem using a continuification-based strategy. We consider a scenario in which a large group of follower agents (targets) must be confined within a designated goal region…

The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…

We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…

The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…

This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…

In this report we provide a decentralized robust control approach, which guarantees that connectivity of a multi-agent network is maintained when certain bounded input terms are added to the control strategy. Our main motivation for this…

We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…

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…

Modeling and control of agent-based models is twice cursed by the dimensionality of the problem, as both the number of agents and their state space dimension can be large. Even though the computational barrier posed by a large ensemble of…

This paper considers the distributed H-infinity leader-following tracking problem for a class of discrete time multi-agent systems with a high-dimensional dynamic leader. It is assumed that output information about the leader is only…

We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…

We present a novel computational framework for density control in high-dimensional state spaces. The considered dynamical system consists of a large number of indistinguishable agents whose behaviors can be collectively modeled as a…