eprintid: 10192820
rev_number: 15
eprint_status: archive
userid: 699
dir: disk0/10/19/28/20
datestamp: 2024-05-29 14:13:11
lastmod: 2025-03-04 15:55:05
status_changed: 2024-05-29 14:13:11
type: article
metadata_visibility: show
sword_depositor: 699
creators_name: Fedele, Giuseppe
creators_name: D’Alfonso, Luigi
creators_name: Chen, Boli
title: A matching problem between two decoupled multi-agent systems with reference tracking capabilities
ispublished: pub
divisions: UCL
divisions: B04
divisions: C05
divisions: F46
keywords: Multi-agent systems; Matching problem; 
Emergent behavior; 
Trajectory tracking and path following; 
Cooperative control
note: Copyright © 2024 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/bync-nd/4.0/).
abstract: Multi-agent systems have emerged as the central framework in which autonomous agents are seamlessly coordinated and co-operate to address complex challenges. The area of matching between multiple swarms has attracted considerable attention, especially in critical domains such as transport, logistics and robotics, where coordination algorithms play an essential role in resource allocation, system performance and overall functionality. This paper addresses the challenges that arise in matching two swarms of agents, addressing issues related to scalability, dynamic environments, and privacy. The proposed solution, based on a theoretical study of emergent behavior in multi-agent systems, revolves around the design of a control law that aims to ensure the convergence of the agents’ positions to a predefined region where the steady-state values remain independent of the agents’ initial conditions. This independence reflects a collective behavior resulting from local interactions between the agents and their engagement with the environment. This property shows that even completely independent swarms can reach a coupled consensus within a predefined region, even in the absence of direct communication. The effectiveness of the proposed approach is supported by numerical simulations and experimental results.
date: 2025-03
date_type: published
publisher: Elsevier
official_url: https://doi.org/10.1016/j.automatica.2024.112047
oa_status: green
full_text_type: pub
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 2278825
doi: 10.1016/j.automatica.2024.112047
lyricists_name: Chen, Boli
lyricists_id: BCHEB76
actors_name: Chen, Boli
actors_id: BCHEB76
actors_role: owner
funding_acknowledgements: IES\R2\212041 [Royal Society]
full_text_status: public
publication: Automatica
volume: 173
article_number: 112047
issn: 0005-1098
citation:        Fedele, Giuseppe;    D’Alfonso, Luigi;    Chen, Boli;      (2025)    A matching problem between two decoupled multi-agent systems with reference tracking capabilities.                   Automatica , 173     , Article 112047.  10.1016/j.automatica.2024.112047 <https://doi.org/10.1016/j.automatica.2024.112047>.       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10192820/1/Chen_1-s2.0-S0005109824005405-main.pdf