Graph-Theoretic Methods for Multi-Agent Coordination
Egerstedt, Magnus B.
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By ignoring the geometric constraints that inevitably govern inter-robot interactions in decentralized robot networks, a purely combinatorial description of the network is obtained. In fact, it can be described as a graph, with vertices corresponding to the individual robots, and edges corresponding to the existence of an inter-robot communication (or sensing) link. In this note, we report on some of the recent results that have emerged in the general area of graph-based multi-agent control. Most notably of these might be the consensus equation that allows us to drive a scalar state value to the same value for the different robots, in a completely decentralized fashion.