arXiv cs.MA· Abhinav Sinha, Lohitvel Gopikannan, Shashi Ranjan Kumar·· 11 小时前AI 评分15
面向有向安全协调的网络化可容许性保持控制
Networked Admissibility-Preserving Control for Directed Safe Coordination
AI 导读
针对固定有根有向图上带约束输入动态的标量智能体，提出网络化可容许性保持控制（APC）架构，由 APIR 生成物理输入，使智能体在异构非对称输入边界下保持共同移动输出走廊。在对数障碍坐标下，闭环动态形成指数衰减实现误差与有向一致性动态的精确级联，并给出方向相关兼容条件以保证均匀走廊与输入裕度、有界指令、唯一完全解及指数一致性。部分钉扎在根分量含至少一个知情智能体时可保证安全参考跟踪。
正文 · 原文
Abstract:This paper addresses safe coordination of scalar agents with constrained input dynamics over fixed rooted digraphs. We propose a networked Admissibility-Preserving Control (APC) architecture for a common moving output corridor under heterogeneous asymmetric input bounds, wherein the Admissibility-Preserving Input Realization (APIR) generates the physical inputs. In logarithmic barrier coordinates, the closed-loop dynamics form an exact cascade of exponentially decaying realization errors and directed consensus dynamics. We derive direction-specific compatibility conditions that guarantee uniform corridor and input margins, bounded commands, unique complete solutions, and exponential consensus for compact initial sets. The closed-form expression for the agreement value quantifies the effect of the initial APIR mismatch. Under the corresponding compatibility conditions, partial pinning guarantees safe reference tracking whenever the root component contains at least one informed agent. Simulations illustrate the coordination guarantees.
| Subjects: | Systems and Control (eess.SY); Multiagent Systems (cs.MA); Robotics (cs.RO); Dynamical Systems (math.DS) |
| Cite as: | arXiv:2609.09384 [eess.SY] |
| (or arXiv:2609.09384v2 [eess.SY] for this version) | |
| https://doi.org/10.48550/arXiv.2609.09384 arXiv-issued DOI via DataCite |
Submission history
From: Abhinav Sinha [view email]
[v1]
Tue, 8 Sep 2026 19:38:20 UTC (5,029 KB)
[v2]
Thu, 5 Nov 2026 16:07:36 UTC (4,467 KB)
来源：arXiv cs.MA · arxiv.org