Topology-Induced Connectivity Bounds in Leader-Follower Networks

Thumbnail Image
Files
LeadersAutom10.pdf (196.75 KB)
Author(s)
Gustavi, Tove
Dimarogonas, Dimos V.
Hu, Xiaoming
Advisor(s)
Editor(s)
Associated Organization(s)
Organizational Unit
Organizational Unit
Series
Collections
Research Publications
Supplementary to:
Permanent Link
http://hdl.handle.net/1853/38423
Abstract
In this paper we derive a set of constraints that are sufficient to guarantee maintained connectivity in a leader-follower multi- agent network with proximity based communication topology. 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 followers need to stay in contact with the group of leaders in order to reach the goal. In the paper we show that we can maintain the initial network structure, and thereby connectivity, by setting up bounds on the ratio of leaders-to-followers and on the magnitude of the goal attraction force experienced by the leaders. The results are first established for an initially complete communication graph and then extended to an incomplete graph. The results are illustrated by computer simulations.
Sponsor
Date
2010-01
Extent
Resource Type
Text
Resource Subtype
Pre-print
Rights Statement
Rights URI