Controllability of Homogeneous Single-Leader Networks

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Title: Controllability of Homogeneous Single-Leader Networks
Author: Egerstedt, Magnus B. ; Martini, Simone ; Twu, Philip Y.
Abstract: This paper addresses an aspect of controllability in a single-leader network when the agents are homogeneous. In such a network, indices are not assigned to the individual agents and controllability, which is typically a point to point property, now becomes a point to set property, where the set consists of all permutations of the target point. Agent homogeneity allows for choice of the optimal target point permutation that minimizes the distance to the system's reachable subspace, which we show is equivalent to finding a minimum sum-of-squares clustering with constraints on the cluster sizes. However, finding the optimal permutation is NP-hard. Methods are presented to find suboptimal permutations in the general case and the optimal permutation when the agent positions are 1-D.
Description: (c) 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier : 10.1109/CDC.2010.5718103
Type: Article
ISSN: 0743-1546
Citation: P. Twu, M. Egerstedt, and S. Martini. Controllability of Homogeneous Single-Leader Networks. IEEE Conference on Decision and Control, Atlanta, GA, Dec. 2010.
Date: 2010-12
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Università di Pisa
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Controllability
Multi-agent systems
Single-leader networks

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