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arXiv · 2512.24886

Heterogeneous Multi-Agent Multi-Target Tracking using Cellular Sheaves

Tyler Hanks·Cristian F. Nino·Joana Bou Barcelo·Austin Copeland·Warren Dixon·James Fairbanks
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Abstract

Multi-agent target tracking in the presence of nonlinear dynamics and agent heterogeneity, where state-space dimensions may differ, is a challenging problem that traditional graph Laplacian methods cannot easily address. This work leverages the framework of cellular sheaves, a mathematical generalization of graph theory, to natively model such heterogeneous systems. While existing coordination sheaf frameworks focus on cooperative problems like consensus, this work extends them to the non-cooperative target-tracking problem. The tracking of multiple, unknown targets is formulated as a harmonic extension problem on a cellular sheaf, accommodating nonlinear dynamics and external disturbances for all agents. A decentralized control law is developed using the sheaf Laplacian, and a corresponding Lyapunov-based stability analysis is provided to guarantee tracking error convergence, with results validated by simulation.

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Tyler Hanks, Cristian F. Nino, Joana Bou Barcelo, Austin Copeland, Warren Dixon, James Fairbanks. 2025-12-31. Heterogeneous Multi-Agent Multi-Target Tracking using Cellular Sheaves. https://arxiv.org/abs/2512.24886

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