Disentangled Control of Multi-Agent Systems

arXiv cs.RO / 5/4/2026

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Key Points

The paper proposes a general framework for synthesizing control strategies for multi-agent systems with convergence guarantees, including when objective functions change over time.
It enables decentralized control while avoiding dynamical coupling between agents, which can simplify analysis and implementation.
The framework supports multi-objective robotics and is designed to be suitable for real-time execution.
The authors validate the approach on three representative applications: time-varying leader–follower formation control, decentralized coverage control with time-varying density functions (without approximations), and safe formation navigation in dense environments.

Abstract

This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves decentralization without inducing dynamical coupling among agents, and it naturally supports multi-objective robotics and real-time implementation. To demonstrate its generality and effectiveness, the framework is applied to solve three representative problems, namely time-varying leader-follower formation control, decentralized coverage control for time-varying density functions without approximations, which is a long-standing open problem, and safe formation navigation in a dense environment.