On the Number of Leaders Needed to Ensure Network Connectivity in Arbitrary Dimensions
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Abstract
We examine the leader-to-follower ratio needed to
maintain connectivity in a leader-follower multi-agent network
with proximity based communication topology. The paper extends
the one-dimensional results of [2] to the two dimensional
case. In the scenario we consider, only the leaders are aware of
the global mission, which is to converge to a known destination
point. Thus, the objective of the leaders is to drag the team to
the desired goal. In the paper we obtain bounds on the number
of leaders needed to complete the task. The results are first
established for an initially complete communication graph and
then extended to the incomplete case. Computer simulations
support the derived theory.
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2009-06
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