Symmetry-Induced Clustering in Multi-Agent Systems using Network Optimization and Passivity

This work studies the effects of a weak notion of symmetry on diffusively-coupled multi-agent systems. We focus on networks comprised of agents and controllers which are maximally equilibrium independent passive, and show that these converge to a clustered steady-state, with clusters corresponding to certain symmetries of the system. Namely, clusters are computed using the notion of the exchangeability graph. We then discuss homogeneous networks and the cluster synthesis problem, namely finding a graph and homogeneous controllers forcing the agents to cluster at prescribed values.