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A graph-theoretic approach on optimizing informed-node selection in multi-agent tracking control
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
Chalmers University of Technology.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-1835-2963
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2014 (English)In: Physica D: Non-linear phenomena, ISSN 0167-2789, E-ISSN 1872-8022, Vol. 267, 104-111 p.Article in journal (Refereed) Published
Abstract [en]

A graph optimization problem for a multi-agent leader follower problem is considered. In a multi-agent system with n followers and one leader, each agent's goal is to track the leader using the information obtained from its neighbors. The neighborhood relationship is defined by a directed communication graph where k agents, designated as informed agents, can become neighbors of the leader. This paper establishes that, for any given strongly connected communication graph with k informed agents, all agents will converge to the leader. In addition, an upper bound and a lower bound of the convergence rate are obtained. These bounds are shown to explicitly depend on the maximal distance from the leader to the followers. The dependence between this distance and the exact convergence rate is verified by empirical studies. Then we show that minimizing the maximal distance problem is a metric k-center problem in classical combinatorial optimization studies, which can be approximately solved. Numerical examples are given to illustrate the properties of the approximate solutions.

Place, publisher, year, edition, pages
2014. Vol. 267, 104-111 p.
Keyword [en]
Multi-agent systems, Leader-follower models, Convergence rate, Structure optimization
National Category
Other Physics Topics
Identifiers
URN: urn:nbn:se:kth:diva-140658DOI: 10.1016/j.physd.2013.07.014ISI: 000329269300011Scopus ID: 2-s2.0-84889096325OAI: oai:DiVA.org:kth-140658DiVA: diva2:692558
Funder
Knut and Alice Wallenberg FoundationSwedish Research Council
Note

QC 20140131

Available from: 2014-01-31 Created: 2014-01-30 Last updated: 2017-12-06Bibliographically approved

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Sandberg, HenrikJohansson, Karl Henrik

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