Structurally Observable Distributed Networks of Agents under Cost and Robustness Constraints
Multiagent Systems
2017-02-10 v1
Abstract
In many problems, agents cooperate locally so that a leader or fusion center can infer the state of every agent from probing the state of only a small number of agents. Versions of this problem arise when a fusion center reconstructs an extended physical field by accessing the state of just a few of the sensors measuring the field, or a leader monitors the formation of a team of robots. Given a link cost, the paper presents a polynomial time algorithm to design a minimum cost coordinated network dynamics followed by the agents, under an observability constraint. The problem is placed in the context of structural observability and solved even when up to k agents in the coordinated network dynamics fail.
Cite
@article{arxiv.1702.02597,
title = {Structurally Observable Distributed Networks of Agents under Cost and Robustness Constraints},
author = {Stephen Kruzick and Sérgio Pequito and Soummya Kar and José M. F. Moura and A. Pedro Aguiar},
journal= {arXiv preprint arXiv:1702.02597},
year = {2017}
}