{"ID":2844580,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.05900","arxiv_id":"2511.05900","title":"Disentangled Control of Multi-Agent Systems","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.","short_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 sup...","url_abs":"https://arxiv.org/abs/2511.05900","url_pdf":"https://arxiv.org/pdf/2511.05900v3","authors":"[\"Ruoyu Lin\",\"Gennaro Notomista\",\"Magnus Egerstedt\"]","published":"2025-11-08T07:50:53Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[]","has_code":false}