Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency (with proofs)
Systems and Control
2025-03-04 v6 Systems and Control
Abstract
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations and compute near-optimal control gains in closed form. We show that the centralized control architecture is in general suboptimal when the communication increase with the number of links, and propose a control-driven optimization of the network topology.
Keywords
Cite
@article{arxiv.2101.10394,
title = {Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency (with proofs)},
author = {Luca Ballotta and Mihailo R. Jovanović and Luca Schenato},
journal= {arXiv preprint arXiv:2101.10394},
year = {2025}
}
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