Distribution of Agents with Multiple Capabilities in Heterogeneous Multiagent Networks – A Graph Theoretic View
Egerstedt, Magnus B.
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In this paper, we investigate how to distribute agents of different types in heterogeneous multiagent systems. Heterogeneity can for instance be related to various resources and capabilities agents may have. We insist that every agent can find all different resources available in the network in its closed neighborhood. The total number of different resources that can be accommodated within a system under this setting depends on the underlying graph structure of the network. This paper provides an analysis of the assignment of multiple resources to nodes and the effect of these assignments on the overall heterogeneity of a network. We extend our analysis to proximity graphs, a widely used interaction model in multi agent and wireless systems. In addition, we perform qualitative and quantitative studies regarding the roles of individual agents and their interactions in such heterogeneous networks.