PDE-based deployment of multiagents measuring relative position to one neighbor

We develop a PDE-based approach to multi-agent deployment where each agent measures its relative position to only one neighbor. First, we show that such systems can be modeled by a first-order hyperbolic partial differential equation (PDE) whose L2-stability implies the stability of the multi-agent system for a large enough number of agents. Then, we show that PDE modelling helps to construct a Lyapunov function for the multi-agent system using spatial discretisation. Then, we use the PDE model to estimate the leader input delay preserving the stability