Topology-Induced Connectivity Bounds in Leader-Follower Networks

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Title: Topology-Induced Connectivity Bounds in Leader-Follower Networks
Author: Gustavi, Tove ; Dimarogonas, Dimos V. ; Egerstedt, Magnus B. ; Hu, Xiaoming
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.
Description: NOTICE: This is the author's version of a work that was accepted for publication in Automatica. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Automatica, Vol. 46, No. 1, pp. 133-139, January 2010, doi:10.1016/j.automatica.2009.10.014
Type: Pre-print
ISSN: 0005-1098
Citation: T. Gustavi, D. Dimarogonas, M. Egerstedt, and X. Hu. Topology-Induced Connectivity Bounds in Leader-Follower Networks. Automatica, Vol. 46, No. 1, pp. 133-139, Jan. 2010.
Date: 2010-01
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Subject: Networked systems
Multi-agent robotics
Connectivity graphs

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