A Graph-Theoretic Characterization of Controllability for Multi-agent Systems

Ji, Meng; Egersted, M.

doi:10.1109/acc.2007.4283010

Cited by 83 publications

(97 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To date, few results have been available along this line in the literature. In [7], the controllability was characterized by graph theory. In [12], the controllability problem was studied under both fixed and switching topologies for continuous-time case, and then for discrete-time case [11].…”

Section: Introductionmentioning

confidence: 99%

Interconnection topologies for multi-agent coordination under leader–follower framework

et al. 2009

View full text Add to dashboard Cite

In this paper, the formation control of networks of multiple agents is studied via controllability, where the network is under leader-follower structure with some agents taking the leader role and others being followers interconnected via neighbor-based rule. It is shown that the controllability of a multi-agent system is uniquely determined by the topology structure of interconnection graph, and the investigation of which comes down to that for a multi-agent system with the interconnection graph being connected. Based on these observations, two kinds of interconnection graph topologies are characterized, under which the network of multiple agents is uncontrollable, revealing to some extent how the controllability, and accordingly the formation control, are affected by the interconnection topology between agents. Finally, a necessary and sufficient condition in terms of eigenvector is presented. The results also touch upon the selection of leaders and are illustrated by several examples.

show abstract

Section: Introductionmentioning

confidence: 99%

Interconnection topologies for multi-agent coordination under leader–follower framework

et al. 2009

View full text Add to dashboard Cite

show abstract

“…Physically, it means that when a sensor has gathered sufficient information, then it will stop following the leader and only performs the coverage. Thus, by implementing the control law (13), (14), the participation of all sensors in the coverage task is guaranteed.…”

Section: Proposed Distributed Algorithmmentioning

confidence: 99%

“…Next, we review the leader-following algorithm for a multi-leaders case [14]. In this paper we define f to denote the followers and l for the leaders.…”

Section: B Leader-following Algorithmmentioning

confidence: 99%

“…given by (1) and the control input is given by (13), (14). (14), the speed of the followers are the sum of the control input of the coverage algorithm (9) and the leader-following algorithm (12), which depends on the communication topology between the sensors.…”

Section: Proposition 1 Consider Mobile Sensors Whose Kinematicmentioning

confidence: 99%

“…(14), the speed of the followers are the sum of the control input of the coverage algorithm (9) and the leader-following algorithm (12), which depends on the communication topology between the sensors. Thus the convergence speed of (14) is faster than (9).…”

Section: Proposition 1 Consider Mobile Sensors Whose Kinematicmentioning

confidence: 99%

See 2 more Smart Citations

Information-driven distributed coverage algorithms for mobile sensor networks

Gusrialdi

Dirza

Hirche

2011

2011 International Conference on Networking, Sensing and Control

View full text Add to dashboard Cite

Abstract-When mobile sensors are initially deployed, some sensors may be located far away from the region of interest and due to the sensor's limited sensing of range, some sensors may not be able to participate in the coverage task. This paper proposes a new algorithm on the coverage problem for mobile sensor networks which guarantees all sensors to participate in the coverage task. The algorithm is a combination of the standard gradient-based coverage algorithm and leaderfollowing algorithm and is designed to maximize the joint detection probabilities of the events in the region of interest. First, leader sensors are selected based on the information which each sensor has gathered. The rest of the sensors will follow the leaders until they have sufficient information on the region of interest and then switch to the standard coverage algorithm. The proposed algorithm can be performed in a distributed manner. Moreover, the proposed algorithm could also improve the convergence speed of the coverage task. The results are validated through numerical simulations.

show abstract

Group controllability of discrete‐time second‐order multi‐agent systems with two‐time‐scale feature

Jiang

Qian

et al. 2021

Asian Journal of Control

View full text Add to dashboard Cite

This study investigates the group controllability of discrete‐time second‐order multi‐agent systems (MASs) with two‐time‐scale feature. The paper first provides a definition of the group controllability of discrete‐time second‐order MASs with two‐time‐scale feature. In view of the ill‐posedness problem that occurs when the classical control theory is used directly to manage the controllability of two‐time‐scale MASs with a singular perturbation parameter, we adopt a singular perturbation method based on iteration and approximation to decompose two‐time‐scale MASs into fast‐time‐scale and slow‐time‐scale subsystems. Subsequently, by combining the Kalman rank criterion and matrix theory knowledge, several additional easy‐to‐operate controllable criteria are proposed for these MASs. The validity is then demonstrated through simulations, and the influence of the singular perturbation parameter on the group controllability of discrete‐time second‐order MASs is discussed. This research complements existing situations in which only first‐order agents are considered.

show abstract

A Graph-Theoretic Characterization of Controllability for Multi-agent Systems

Cited by 83 publications

References 12 publications

Interconnection topologies for multi-agent coordination under leader–follower framework

Interconnection topologies for multi-agent coordination under leader–follower framework

Information-driven distributed coverage algorithms for mobile sensor networks

Group controllability of discrete‐time second‐order multi‐agent systems with two‐time‐scale feature

Contact Info

Product

Resources

About