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arXiv · 2406.01804

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

Gian Carlo Maffettone·Alain Boldini·Maurizio Porfiri·Mario di Bernardo
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Abstract

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 feed-forward 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 one-dimensional setting, are extended to multi-dimensional cases, and validated through numerical simulations for representative control applications, both for groups of infinite and finite size.

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Gian Carlo Maffettone, Alain Boldini, Maurizio Porfiri, Mario di Bernardo. 2024-06-03. Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multi-Agent Systems. https://doi.org/10.1109/tac.2025.3565927

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