Analysis of coordination in multi-agent systems through Partial difference Equations. Part II: Nonlinear control

Authors:	Ferrari-Trecate Giancarlo, INRIA, France Buffa Annalisa, CNR, Italy Gati Mehdi, Renault Research Center, France
Topic:	7.5 Intelligent Autonomous Vehicles
Session:	Multiple Vehicles I
Keywords:	Networked autonomous vehicles, Partial difference equations, Formation control, Cooperative control. Decentralized control

Abstract

In this second part of the paper we exploit the framework of Partial differenceEquations (PdEs) over graphs for analyzing the behavior of multi-agent systems equipped with potential field based control schemes. We consider agent dynamics affected by errors and model the collective dynamicsthrough nonlinear PdEs. Hinging on theproperties of the Laplacian operator on graph, discussed in Part I, we prove alignment and collision avoidance both in leaderless and leader-followermodels.