High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations

Abstract

This paper investigates the robustness of a novel high-dimensional continuification control method for complex multi-agent systems. We begin by formulating a partial differential equation describing the spatio-temporal density dynamics of swarming agents. A stable control action for the density is then derived and validated under nominal conditions. Subsequently, we discretize this macroscopic strategy into actionable velocity inputs for the system's agents. Our analysis demonstrates the robustness of the approach beyond idealized assumptions of unlimited sensing and absence of perturbations.

arXiv admin note: text overlap with arXiv:2310.01573

References in corpus (4)

• Novel type of phase transition in a system of self-driven particles
• A Continuation Method for Large-Scale Modeling and Control: from ODEs to PDE, a Round Trip
• Continuification-based control of large multiagent systems in a ring
• Continuification control of large-scale multiagent systems under limited sensing and structural perturbations