PDE-Based Deployment of Multiagents Measuring Relative Position to One Neighbor

Anton Selivanov*, Emilia Fridman

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


We develop a PDE-based approach to multi-agent deployment where each agent measures its relative position to only one neighbor. First, we show that such systems can be modeled by a first-order hyperbolic partial differential equation (PDE) whose L2-stability implies the stability of the multi-agent system for a large enough number of agents. Then, we show that PDE modelling helps to construct a Lyapunov function for the multi-agent system using spatial discretisation. Then, we use the PDE model to estimate the leader input delay preserving the stability.

Original languageEnglish
Pages (from-to)2563-2568
Number of pages6
JournalIEEE Control Systems Letters
StatePublished - 2022


  • Linear matrix inequalities
  • Multi-agent systems
  • Partial differential equations
  • Time-delay systems


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