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Analysis of coordination in multi-agent systems through Partial dierence Equations. Part I: The Laplacian control (2005)
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| Venue: | In: Proc. 16th IFAC World Congress on Automatic Control |
| Citations: | 40 - 5 self |
BibTeX
@INPROCEEDINGS{Ferrari-trecate05analysisof,
author = {Giancarlo Ferrari-trecate and Mehdi Gati},
title = {Analysis of coordination in multi-agent systems through Partial dierence Equations. Part I: The Laplacian control},
booktitle = {In: Proc. 16th IFAC World Congress on Automatic Control},
year = {2005}
}
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Abstract
Abstract: In this second part of the paper we exploit the framework of Partial dierence Equations (PdEs) over graphs for analyzing the behavior of multi-agent systems equipped with potential eld based control schemes. We consider agent dynamics aected 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. Copyright c 2005 IFAC
