Disentangled Control of Multi-Agent Systems

This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, regardless of the complexity of the underlying graph topology and the explicit time dependence of the objective function. The proposed framework systematically addresses a particularly challenging problem in multi-agent systems, i.e., decentralization of entangled dynamics among different agents, and it naturally supports multi-objective robotics and real-time implementations. To demonstrate its generality and effectiveness, the framework is implemented across three experiments, namely time-varying leader-follower formation control, decentralized coverage control for time-varying density functions without any approximations, which is a long-standing open problem, and safe formation navigation in dense environments.

• Publication year

  2025

• Venue

  arXiv.org

• Publication date

  2025-11-08

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.48550/arXiv.2511.05900arXiv 2511.05900
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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