arXiv subjects

Tommaso Zaccherini

Publications and source records attributed to Tommaso Zaccherini.

4 recordsLinked to original sources

arXiv2026

Control of Multi-agent Systems under STL Specifications based on Prescribed Performance Observers

This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying cooperative Signal Temporal Logic (STL) specifications. The considered specifications involve spatiotemporal tasks that require collaboration among multiple agents, including agents beyond direct communication neighborhoods. To address the communication constraints, a $k$-hop Prescribed Performance State Observer ($k$-hop PPSO) is designed to enable each agent to estimate the states of agents up to $k$ communication hops away using only information from $1$-hop neighbors, while guaranteeing predefined performance bounds on the estimation errors. The estimation error bounds are explicitly incorporated into a reformulation of the spatial robustness of the STL specifications, yielding robustness measures that account for worst-case estimation uncertainty. Based on the modified robustness, a decentralized continuous-time feedback control law is designed to guarantee satisfaction of the STL specifications in the presence of bounded disturbances and estimation errors. The proposed framework provides formal correctness guarantees using only local information and limited communication. Numerical simulations illustrate the theoretical results.

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arXiv2026

Observer-based Control of Multi-agent Systems under STL Specifications

This paper proposes a decentralized controller for large-scale heterogeneous multi-agent systems subject to bounded external disturbances, where agents must satisfy Signal Temporal Logic (STL) specifications requiring cooperation among non-communicating agents. To address the lack of direct communication, we employ a decentralized k-hop Prescribed Performance State Observer (k-hop PPSO) to provide each agent with state estimates of those agents it cannot communicate with. By leveraging the performance bounds on the state estimation errors guaranteed by the k-hop PPSO, we first modify the space robustness of the STL tasks to account for these errors, and then exploit the modified robustness to design a decentralized continuous-time feedback controller that ensures satisfaction of the STL tasks even under worst-case estimation errors. A simulation result is provided to validate the proposed framework.

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arXiv2025

Robust Estimation and Control for Heterogeneous Multi-agent Systems Based on Decentralized k-hop Prescribed Performance Observers

We propose decentralized k-hop Prescribed Performance State and Input Observers for heterogeneous multi-agent systems subject to bounded external disturbances. In the proposed input/state observer, each agent estimates the state and input of agents located two or more hops away using only local information exchanged with 1-hop neighbors, while guaranteeing that transient estimation errors satisfy predefined performance bounds. Conditions are established under which the input observer can be omitted, allowing the state observer convergence to be independent of the input estimates. Theoretical analysis demonstrates that if a closed-loop controller with full state knowledge achieves the control objective and the estimation-based closed-loop system is set-Input to State Stable (set-ISS) with respect to the goal set, then the estimated states can be used to achieve the system objective with an arbitrarily small worst-case error governed by the accuracy of the states estimates. Simulation results are provided to validate the proposed approach.

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arXiv2025

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

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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