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On the Number of Leaders Needed to Ensure Network Connectivity
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
2008 (English)In: 47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), IEEE conference proceedings, 2008, 1797-1802 p.Conference paper (Refereed)
Abstract [en]

In this paper we examine the leader-to-follower ratio needed to maintain connectivity in a leader-follower multi-agent network with proximity based communication topology. 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 while guaranteeing that connectedness of the communication graph is maintained. The results are first established for an initially complete communication graph and then extended to the incomplete case. The results are illustrated by computer simulations.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2008. 1797-1802 p.
, IEEE Conference on Decision and Control, ISSN 0191-2216
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-121721DOI: 10.1109/CDC.2008.4739212ISI: 000307311601152ScopusID: 2-s2.0-62949219960ISBN: 978-1-4244-3124-3OAI: diva2:620080
47th IEEE Conference on Decision and Control, DEC 09-11, 2008, Cancun, MEXICO

QC 20130507

Available from: 2013-05-07 Created: 2013-05-03 Last updated: 2013-05-07Bibliographically approved

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