A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.
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The work introduces k-hop prescribed performance observers that let decentralized controllers enforce cooperative STL specifications on heterogeneous multi-agent systems despite bounded disturbances and limited communication.
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Disentangled Control of Multi-Agent Systems
A general framework for multi-agent control that achieves decentralization without dynamical coupling and provides convergence guarantees for time-varying objectives, demonstrated on formation control, coverage, and safe navigation.
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Control of Multi-agent Systems under STL Specifications based on Prescribed Performance Observers
The work introduces k-hop prescribed performance observers that let decentralized controllers enforce cooperative STL specifications on heterogeneous multi-agent systems despite bounded disturbances and limited communication.