Modeling multi-agent systems with hybrid interacting dynamics

We present a new framework for describing multi-agent systems with hybrid interacting dynamics, where the interaction between agents occurs at both the continuous and discrete levels. We define multi-agent systems as Interconnected Hybrid Systems, recast fundamental hybrid concepts such as hybrid execution and reachability in this new interconnected hybrid systems framework, and prove a necessary and sufficient condition for the existence and uniqueness of the interconnected hybrid executions, extending previous work on hybrid systems. We provide conditions on each agent´s hybrid model that guarantee the multi-agent system´s existence and uniqueness property. Finally, we provide an example that shows how to apply the existence and uniqueness conditions in the design of the agents´ dynamics.