Analysis of Coordination in multiple Agents Formations through Partial Difference Equations

In this paper we introduce the framework of Partial difference Equations (PdEs) over graphs for analyzing the behavior of multiple agent formations equipped with decentralized control schemes. PdEs mimic Partial Differential Equations (PDEs) on graphs and can be studied by introducing functional analysis concepts strongly inspired to the corresponding ones arising in PDEs theory. We generalize different formation models proposed in the literature by introducing errors in the agent dynamics and analyze agent coordination through the joint use of PdEs and automatic control tools. Moreover, for the simplest control schemes, we show that the resulting PdEs enjoy properties that are similar to those of well-known PDEs like the heat equation, thus allowing to exploit physical-based reasoning for conjecturing formation properties.


 Record created 2017-01-10, last modified 2018-03-17

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