Related papers: In-Network Leader Selection for Acyclic Graphs
In many applications of multi-agent systems (MAS), a set of leader agents acts as a control input to the remaining follower agents. In this paper, we introduce an analytical approach to selecting leader agents in order to minimize the total…
This paper presents a randomized self-stabilizing algorithm that elects a leader $r$ in a general $n$-node undirected graph and constructs a spanning tree $T$ rooted at $r$. The algorithm works under the synchronous message passing network…
In this paper we study the controllability of networked systems with static network topologies using tools from algebraic graph theory. Each agent in the network acts in a decentralized fashion by updating its state in accordance with a…
A controllable network can be driven from any initial state to any desired state using driver nodes. A set of driver nodes to control a network is not unique. It is important to characterize these driver nodes and select the right driver…
The problem of finding a minimum-weight connected dominating set (CDS) of a given undirected graph has been studied actively, motivated by operations of wireless ad hoc networks. In this paper, we formulate a new stochastic variant of the…
Dynamical systems comprised of autonomous agents arise in many relevant problems such as multi-agent robotics, smart grids, or smart cities. Controlling these systems is of paramount importance to guarantee a successful deployment. Optimal…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
This work examines the problem of topology inference over discrete-time nonlinear stochastic networked dynamical systems. The goal is to recover the underlying digraph linking the network agents, from observations of their state-evolution.…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
Network tomography has been used as an approach to the Node Failure Localisation problem, whereby misbehaving subsets of nodes in a network are to be determined. Typically approaches in the literature assume a statically routed network,…
We consider the leader selection problem in a network with consensus dynamics where both leader and follower agents are subject to stochastic external disturbances. The performance of the system is quantified by the total steady-state…
In this technical note, we study the controllability of diffusively coupled networks from a graph theoretic perspective. We consider leader-follower networks, where the external control inputs are injected to only some of the agents, namely…
Different from most existing distributed localization approaches in static networks where the agents in a network are static, this paper addresses the distributed localization problem in dynamic networks where the positions of the agents…
Distributed peer-to-peer systems are widely popular due to their decentralized nature, which ensures that no peer is critical for the functionality of the system. However, fully decentralized solutions are usually much harder to design, and…
In this Letter we propose a method to control a set of arbitrary nodes in a directed network such that they follow a synchronous trajectory which is, in general, not shared by the other units of the network. The problem is inspired to those…
We study the problem of patrolling the nodes of a network collaboratively by a team of mobile agents, such that each node of the network is visited by at least one agent once in every $I(n)$ time units, with the objective of minimizing the…
This paper explores the conditions for determining fixed nodes in structured networks, specifically focusing on directed acyclic graphs (DAGs). We introduce several necessary and sufficient conditions for determining fixed nodes in…
The leader-following consensus of multiple linear time invariant (LTI) systems under switching topology is considered. The leader-following consensus problem consists of designing for each agent a distributed protocol to make all agents…
In this paper, we study a model reduction technique for leader-follower networked multi-agent systems defined on weighted, undirected graphs with arbitrary linear multivariable agent dynamics. In the network graph of this network, nodes…
The Bilevel Optimization Problem is a hierarchical optimization problem with two agents, a leader and a follower. The leader make their own decisions first, and the followers make the best choices accordingly. The leader knows the…