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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… Click to show full abstract
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.
Journal Title: IEEE Control Systems Letters
Year Published: 2022
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