Abstract:This paper develops a general framework with convergence guarantees for multi-agent control synthesis, which applies to a wide range of problems, including those with time-varying objective functions. The proposed framework achieves decentralization without inducing entangled dynamics among agents, and it naturally supports multi-objective robotics and real-time implementation. To demonstrate its generality and effectiveness, the framework is applied to three representative problems, namely time-varying leader-follower formation control, decentralized coverage control for time-varying density functions, which is a long-standing open problem, and safe formation navigation in a dense environment.
From: Ruoyu Lin [view email]
[v1]
Sat, 8 Nov 2025 07:50:53 UTC (2,066 KB)
[v2]
Tue, 25 Nov 2025 06:39:10 UTC (2,069 KB)
[v3]
Fri, 1 May 2026 07:09:26 UTC (1,915 KB)
[v4]
Sat, 1 Aug 2026 08:10:16 UTC (1,914 KB)
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