Leaders in multi-agent controllability under consensus algorithm and tree topology
By controllability of multi-agent systems, we mean the property that all agents can be driven to arbitrary configurations only through regulating a few leaders externally, while the rest of the agents are subject to the nearest-neighbor-law. It is known that the controllability of multi-agent system...
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| Veröffentlicht in: | Systems & control letters Jg. 61; H. 9; S. 918 - 925 |
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| Sprache: | Englisch |
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Amsterdam
Elsevier B.V
01.09.2012
Elsevier |
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| ISSN: | 0167-6911, 1872-7956 |
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| Abstract | By controllability of multi-agent systems, we mean the property that all agents can be driven to arbitrary configurations only through regulating a few leaders externally, while the rest of the agents are subject to the nearest-neighbor-law. It is known that the controllability of multi-agent systems depends not only on the communication topologies among agents but also on the selection of leaders. The main objective of this paper aims to characterize the virtue that leaders should have from the perspective of algebraic and graphical conditions. We begin with a heuristic observation for tree graph. To gain more insights, necessary and sufficient conditions are then proposed in terms of downer branch and subgraphs, respectively. In particular, it is shown for path topologies that controllability completely depends on the leaders’ location. The obtained results may help us to pave the way towards a new method of formation and reconfiguration control in swarming robots. |
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| AbstractList | By controllability of multi-agent systems, we mean the property that all agents can be driven to arbitrary configurations only through regulating a few leaders externally, while the rest of the agents are subject to the nearest-neighbor-law. It is known that the controllability of multi-agent systems depends not only on the communication topologies among agents but also on the selection of leaders. The main objective of this paper aims to characterize the virtue that leaders should have from the perspective of algebraic and graphical conditions. We begin with a heuristic observation for tree graph. To gain more insights, necessary and sufficient conditions are then proposed in terms of downer branch and subgraphs, respectively. In particular, it is shown for path topologies that controllability completely depends on the leaders' location. The obtained results may help us to pave the way towards a new method of formation and reconfiguration control in swarming robots. |
| Author | Yu, Haisheng Ji, Zhijian Lin, Hai |
| Author_xml | – sequence: 1 givenname: Zhijian surname: Ji fullname: Ji, Zhijian email: jizhijian@pku.org.cn, jizhijian@pku.edu.cn organization: Institute of Automation, Qingdao University, Qingdao, 266071, China – sequence: 2 givenname: Hai surname: Lin fullname: Lin, Hai email: hlin1@nd.edu organization: Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN 46556, USA – sequence: 3 givenname: Haisheng surname: Yu fullname: Yu, Haisheng email: yhsh@qdu.edu.cn organization: Institute of Automation, Qingdao University, Qingdao, 266071, China |
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| Keywords | Controllability Leader–follower structure Local interaction Multi-agent system Branching Nearest neighbour Tree(graph) Necessary and sufficient condition Collective process Distributed system Topology Consensus Multiagent system Heuristic method Subgraph Swarm intelligence Leader―follower structure Localization Formation Artificial intelligence Reconfiguration |
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| SubjectTerms | Agents (artificial intelligence) Algorithms Applied sciences Artificial intelligence Computer science; control theory; systems Computer systems and distributed systems. User interface Control system analysis Control theory. Systems Controllability Exact sciences and technology Expert systems Information retrieval. Graph Leader–follower structure Local interaction Multi-agent system Robot control Robots Software Theoretical computing Topology Trees |
| Title | Leaders in multi-agent controllability under consensus algorithm and tree topology |
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