受计算与通信延迟约束的多智能体系统最优网络拓扑（含证明）
系统与控制
2025-03-04 v6 系统与控制
摘要
我们研究具有滞后动态的 networked control system 的最小方差反馈控制设计，其中智能体间通信存在延迟。我们证明此类设计对于环形编队可有效求解，并以封闭形式给出近最优控制增益。我们表明当通信随链路数量增加时，集中式控制架构一般是次优的，并提出了一种控制驱动的网络拓扑优化方法。
引用
@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}
}
备注
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