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...

Full description

Saved in:
Bibliographic Details
Published in:Systems & control letters Vol. 61; no. 9; pp. 918 - 925
Main Authors: Ji, Zhijian, Lin, Hai, Yu, Haisheng
Format: Journal Article
Language:English
Published: Amsterdam Elsevier B.V 01.09.2012
Elsevier
Subjects:
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
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
ISSN:0167-6911, 1872-7956
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2012.06.003