On state estimation for multi-agent motion: discrete-time systems

The reachability problem for linear discrete-time control systems which describe multi-agent motion is considered. Namely, we consider a finite set of subsystems with controls to be chosen under the condition that the trajectories of the subsystems are pairwise not very close to and not very far away from each other. Properties of reachable sets of such systems are described. Some algorithms for constructing external polyhedral (parallelepiped-valued) estimates for reachable sets are proposed.