TY - GEN
T1 - PDE-based deployment with communicating leaders for a large-scale multi-agent system
AU - Khansili, Shubham
AU - Selivanov, Anton
N1 - Publisher Copyright:
© 2023 EUCA.
PY - 2023
Y1 - 2023
N2 - We study the deployment of a first-order multi-agent system (MAS) onto a curve in Rn. The MAS has a chain topology and two types of agents: leaders and followers. The leaders know their positions relative to the target curve. Neighboring leaders can communicate with one another. Each follower is aware of the intended and existing differences between its state and the states of its two nearest neighbors. To solve the formation control problem, we derive a semi-linear parabolic PDE describing the system when the number of agents is sufficiently large. We derive the stability condition in terms of linear matrix inequalities (LMIs). Using numerical simulations, we demonstrate that increased connectivity between the leaders improves the deployment speed of the MAS.
AB - We study the deployment of a first-order multi-agent system (MAS) onto a curve in Rn. The MAS has a chain topology and two types of agents: leaders and followers. The leaders know their positions relative to the target curve. Neighboring leaders can communicate with one another. Each follower is aware of the intended and existing differences between its state and the states of its two nearest neighbors. To solve the formation control problem, we derive a semi-linear parabolic PDE describing the system when the number of agents is sufficiently large. We derive the stability condition in terms of linear matrix inequalities (LMIs). Using numerical simulations, we demonstrate that increased connectivity between the leaders improves the deployment speed of the MAS.
KW - deployment
KW - linear matrix inequalities
KW - Lyapunov method
KW - Multi-agent systems
KW - partial differential equations
UR - http://www.scopus.com/inward/record.url?scp=85166486343&partnerID=8YFLogxK
U2 - 10.23919/ECC57647.2023.10178398
DO - 10.23919/ECC57647.2023.10178398
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AN - SCOPUS:85166486343
T3 - 2023 European Control Conference, ECC 2023
BT - 2023 European Control Conference, ECC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 European Control Conference, ECC 2023
Y2 - 13 June 2023 through 16 June 2023
ER -