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arXiv · 2503.07246

Communication-aware Multi-agent Systems Control Based on $k$-hop Distributed Observers

Tommaso Zaccherini·Siyuan Liu·Dimos V. Dimarogonas
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Abstract

We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time convergent state and input observer that exploits only the communication with the 1-hop neighbors to reconstruct the information regarding those agents at a 2-hop distance or more. We then demonstrate that if the k-hop based control strategy is set-Input to State Stable with respect to the set describing the goal, then the observer information can be adopted to achieve the team objective with stability guarantees.

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Tommaso Zaccherini, Siyuan Liu, Dimos V. Dimarogonas. 2025-03-10. Communication-aware Multi-agent Systems Control Based on $k$-hop Distributed Observers. https://arxiv.org/abs/2503.07246

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