Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multiagent Systems

• 成果类型: Article
• 署名作者: Maffettone, Gian Carlo; Boldini, Alain; Porfiri, Maurizio; di Bernardo, Mario
• 署名单位: New York University; New York University Tandon School of Engineering; New York Institute Technology; University of Naples Federico II
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3565927
• 发表日期: 2025
• 页码: 6783-6798
• 关键词: mathematical models; Vehicle dynamics; kernel; Multi-agent systems; microscopy; convolution; training; Traffic control; Swarm robotics; Robot sensing systems; Density control; leader-follower coordination; multiagent systems; spatial control

摘要

We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower density dynamics, we establish feasibility conditions and develop two control architectures ensuring global stability. The first employs feedforward control on the followers' and a feedback on the leaders' density. The second implements a dual feedback loop through a reference-governor that adapts the leaders' density based on both populations' measurements. Our methods, initially developed in a 1-D setting, are extended to higher dimensions and validated through numerical simulations on representative control applications, both for groups of infinite and finite size.