Distributed Connectivity Control in A Dynamic Network
In this paper, we propose a distributed algorithm to control connectivity of mobile agents in a constrained dynamic network. The connectivity property of the multi-agent system is quanti.ed by the second smallest eigenvalue of the state dependent Laplacian of the proximity graph of agents. Motivated by k-regular graph characteristics, we consider a discrete-time model for autonomous agents. We explore an approach based on tentative overlay as a condition mapping from interrelation and interaction between each agent, which equipped with local sensing and wireless communication capabilities. It thereby shows that load balancing can be controlled with networks connectivity, while other than nearest neighbor information, our approach assumes no knowledge of global network topology. Simultaneously, a new collision avoidance method motivated by vertex coloring is presented for our distributed approach. In addition, simulations are provided that demonstrate the effectiveness of our theoretical results, for which we show a distributed dynamic programming of multiagent system.
Distributed control Dynamic networks Multiagent systems
Ren Zhong Shigeru Yamamoto
Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa, Ishi Faculty of Electrical and Computer Engineering, Kanazawa University, Kakuma-machi, Kanazawa, Ishikaw
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
2212-2217
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）