Decoupled Dynamics Distributed Control for Strings of Nonlinear\n Autonomous Agents
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Bibliographic record
Abstract
We introduce a distributed control architecture for a class of heterogeneous,\nnonlinear dynamical agents moving in the "string" formation, while guaranteeing\ntrajectory tracking, collision avoidance and the preservation of the\nformation's topology. Each autonomous agent uses information and relative\nmeasurements only with respect to its predecessor in the string. The\nperformance of the scheme is independent of the number of agents in the network\nand also on the agent's relative position in the network. The scalability is a\nconsequence of the "decoupling" of a certain bounded approximation of the\nclosed--loop equations, which allows the regulation and controller design (at\neach agent) to be done individually, in a completely decentralized manner. A\npractical method for compensating communication induced delays is also\npresented. Numerical examples illustrate the effectiveness and the main\nfeatures of the proposed approach.\n
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.003 | 0.001 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it