In this second part of the paper we exploit the framework of Partial difference Equations (PdEs) over graphs for analyzing the behavior of {multi-agent} systems equipped with potential field based control schemes. We consider agent dynamics affected by errors and model the collective dynamics through nonlinear PdEs. Hinging on the properties of the Laplacian operator on graph, discussed in Part I, we prove alignment and collision avoidance both in leaderless and leader-follower models.

Analysis of coordination in multi-agent systems through partial difference equations. Part II: Nonlinear control

FERRARI TRECATE, GIANCARLO;
2005-01-01

Abstract

In this second part of the paper we exploit the framework of Partial difference Equations (PdEs) over graphs for analyzing the behavior of {multi-agent} systems equipped with potential field based control schemes. We consider agent dynamics affected by errors and model the collective dynamics through nonlinear PdEs. Hinging on the properties of the Laplacian operator on graph, discussed in Part I, we prove alignment and collision avoidance both in leaderless and leader-follower models.
2005
9780080451084
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11571/25596
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact