Fixed Emergent Output Values and Their Use for Blind Matching in a Class of Decoupled Heterogeneous Multiagent Systems

This study focuses on the theoretical analysis of an emergent behavior in a class of heterogeneous multi-agent systems (HMASs) with single-input-single-output dynamics. The primary objective is to design a control law ensuring the asymptotic convergence of agents' outputs to a predefined region where the final positions of the agents represent an emergent characteristics of the considered HMAS. This emergent behavior, termed <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">blind matching</i>, allows completely decoupled swarms to achieve coupled consensus within a predefined region, despite lacking direct communication and exhibiting diverse initial conditions and dynamics. Applying the analysis to coordinate two swarms of double integrator agents in a two-dimensional space, the study formulates control protocols that guide agents along specific paths, establish consensus between corresponding agents, and ensure convergence to fixed positions within a defined boundary relative to chosen movement profiles. The matching problem is addressed, considering the independent nature of the swarms and their lack of direct communication.