Heterogeneous Multi-Agent Tracking with Cellular Sheaves
Published:Dec 31, 2025 14:29
•1 min read
•ArXiv
Analysis
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.
Key Takeaways
Reference
“The tracking of multiple, unknown targets is formulated as a harmonic extension problem on a cellular sheaf, accommodating nonlinear dynamics and external disturbances for all agents.”