Dual-Stage Heterogeneous Multiagent Systems Surrounding Control for a Motional Target
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Bibliographic record
Abstract
This article addresses the dynamic target surrounding control problem for a class of heterogeneous multiagent systems (MASs). To surround a motional target with a time-varying velocity, a distributed observer is established by employing perturbation system analysis, which can simultaneously retrieve both target state and dynamics. Then, a distributed dual-stage cooperative control scheme based on the output regulation principle is proposed to fulfill the even surrounding control mission, i.e., all the heterogeneous agents moving along a common circle around the dynamic target with an identical desired radius and evenly distributed phases. Afterward, an optimal selection protocol of the switching instant between the collective chasing and surrounding stages is provided as well. Significantly, sufficient conditions are derived to guarantee the asymptotical stability of such closed-loop heterogeneous MASs. Finally, numerical simulations are conducted to verify the effectiveness of the proposed surrounding control scheme.
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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 | 0.002 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 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