Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multi-Agent Systems
<|reference_start|>Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multi-Agent Systems: We address the problem of controlling the density of a large ensemble of follower agents by acting on group of leader agents that interact with them. We formulate the problem as a system of coupled partial integro-differential equations describing for the dynamics of the leaders' and followers' densities. We define feasibility conditions and propose two control architectures for exponential global stability. The first architecture is a feed-forward scheme for the followers. It adjusts the leaders' density via a feedback loop, which leverages information about leaders and a fixed reference density, to direct followers towards a target distribution. The second, dual feedback strategy employs a reference-governor to dynamically adapt the leaders' reference density based on measurements on both leaders and followers. Initially analyzed in one dimension, our methods are expanded to multi-dimensional applications. Numerical validations and an application in continuification-based control of leader-follower multiagent systems confirm the effectiveness of our approaches.<|reference_end|>
@article{maffettone2024leader-follower,
    title={Leader-Follower Density Control of Spatial Dynamics in Large-Scale
  Multi-Agent Systems},
    author={Gian Carlo Maffettone, Alain Boldini, Maurizio Porfiri, Mario di
  Bernardo},
    journal={arXiv preprint arXiv:2406.01804},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.01804},
    primaryClass={eess.SY cs.SY}
}