Heterogeneous Multi-Agent Tracking with Cellular Sheaves

This paper addresses the challenging problem of multi-agent target tracking with heterogeneous agents and nonlinear dynamics, which is difficult for traditional graph-based methods. It introduces cellular sheaves, a generalization of graph theory, to model these complex systems. The key contribution is extending sheaf theory to non-cooperative target tracking, formulating it as a harmonic extension problem and developing a decentralized control law with guaranteed convergence. This is significant because it provides a new mathematical framework for tackling a complex problem in robotics and control.