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On the Number of Leaders Needed to Ensure Network Connectivity in Arbitrary Dimensions
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2009 (English)In: MED: 2009 17TH MEDITERRANEAN CONFERENCE ON CONTROL & AUTOMATION, VOLS 1-3, NEW YORK: IEEE , 2009, 98-103 p.Conference paper (Refereed)
Abstract [en]

We examine the leader-to-follower ratio needed to maintain connectivity in a leader-follower multi-agent network with proximity based communication topology. The paper extends the one-dimensional results of [2] to the two dimensional case. In the scenario we consider, only the leaders are aware of the global mission, which is to converge to a known destination point. Thus, the objective of the leaders is to drag the team to the desired goal. In the paper we obtain bounds on the number of leaders needed to complete the task. The results are first established for an initially complete communication graph and then extended to the incomplete case. Computer simulations support the derived theory.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2009. 98-103 p.
National Category
Information Science
URN: urn:nbn:se:kth:diva-26509DOI: 10.1109/MED.2009.5164521ISI: 000280699600017ScopusID: 2-s2.0-70449957507ISBN: 978-1-4244-4684-1OAI: diva2:387383
17th Mediterranean Conference on Control and Automation Thessaloniki, GREECE, JUN 24-26, 2009
QC 20110114Available from: 2011-01-14 Created: 2010-11-25 Last updated: 2011-11-14Bibliographically approved

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