Skip to main content
Multi-Agent Hybrid System Simulation
Departmental Papers (ESE)
  • Joel Esposito, University of Pennsylvania
  • R. Vijay Kumar, University of Pennsylvania
  • George J Pappas, University of Pennsylvania

In this paper a technique is presented for simulating a set of hybrid systems (agents) whose continuous dynamics are decoupled; however coupling is introduced in the form of constraints (inequalities whose violation signifies the occurrence of a discrete event). We introduce a step size selection algorithm, motivated by the control theoretic concept of Input/Output linearization, which allows two or more agents to be integrated asynchronously using different step sizes when the state is away from the constraint. When the state approaches a constriant, the algorithm is able to bring the two local time clocks into synchronization and localize the time of constraint violation. The algorithm is guaranteed to never miss or overshoot the constraints, eliminating the need for simulation roll-back.

Document Type
Conference Paper
Date of this Version
Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, Volume 1, pages 780-785.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Citation Information
Joel Esposito, R. Vijay Kumar and George J Pappas. "Multi-Agent Hybrid System Simulation" (2001)
Available at: