Continuification-based control of large multiagent systems in a ring

TL;DR

This paper introduces a continuification-based control method for large multiagent systems arranged in a ring, transforming microscopic dynamics into a continuum model to synthesize and discretize control actions, validated through simulations.

Contribution

The paper presents a novel continuum-level control synthesis approach for large multiagent systems in a ring configuration, bridging microscopic and macroscopic modeling.

Findings

Effective control of agent distribution achieved

Method demonstrates robustness in simulations

Applicable to large-scale multiagent systems

Abstract

In this paper, we propose a method to control large-scale multiagent systems swarming in a ring. Specifically, we use a continuification-based approach that transforms the microscopic, agent-level description of the system dynamics into a macroscopic, continuum-level representation, which we employ to synthesize a control action towards a desired distribution of the agents. The continuum-level control action is then discretized at the agent-level in order to practically implement it. To confirm the effectiveness and the robustness of the proposed approach, we complement theoretical derivations with a series of numerical simulations.