On control of multiagent formations through local interactions
Dzung M. Tran, Tansel Yucelen · 2016
We recently showed for multiagent systems with first-order agent dynamics how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. In this paper, we generalize our earlier results for multiagent systems with general linear dynamics. Specifically, we utilize multiplex information networks for formation density control of multiagent systems. The proposed approach allows capable agents to spatially alter density of the resulting formation while tracking a target of interest - without requiring global information exchange ability, and hence, through local interactions. We provide an illustrative numerical example to demonstrate the efficacy of the proposed distributed control architecture.