The Degree of Nonholonomy in Distributed Computations
Author(s)
Costello, Zak
Advisor(s)
Editor(s)
Collections
Supplementary to:
Permanent Link
Abstract
A network of locally interacting agents can be
thought of as performing a distributed computation. But not all computations can be faithfully distributed. This paper discusses which global linear transformations can be computed in finite
time using local weighting rules, i.e., rules which rely solely on information from adjacent nodes in a network. Additionally, it
is shown that the degree of nonholonomy of the computation can be related to the underlying information exchange graph. The main result states that the degree of nonholonomy of the
system dynamics is equal to D – 1 where D is the diameter of the information exchange graph. An optimal control problem is solved for finding the local interaction rules, and a simulation is
performed to elucidate how optimal solutions can be obtained.
Sponsor
Date
2014-12
Extent
Resource Type
Text
Resource Subtype
Post-print
Proceedings
Proceedings