Continuification Control of Large-Scale Multiagent Systems in a Ring
Gian Carlo Maffettone, Alain Boldini, Mario di Bernardo, Maurizio Porfiri
Abstract
In this Letter, we propose a method to control large-scale multiagent systems swarming in a ring. Specifically, we use a continuification-based approach that transforms the microscopic, agent-level description of the system dynamics into a macroscopic, continuum-level representation, which we employ to synthesize a control action towards a desired distribution of the agents. The continuum-level control action is then discretized at the agent-level in order to practically implement it. To confirm the effectiveness and the robustness of the proposed approach, we complement theoretical derivations with numerical simulations.
Topics & Concepts
Scale (ratio)Control (management)Ring (chemistry)Environmental scienceComputer scienceGeographyArtificial intelligenceChemistryCartographyOrganic chemistryDistributed Control Multi-Agent SystemsReinforcement Learning in RoboticsModular Robots and Swarm Intelligence