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    A Separation Signal for Heterogeneous Networks

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    Allerton13JP.pdf (324.7Kb)
    Date
    2013-10
    Author
    de la Croix, Jean-Pierre
    Egerstedt, Magnus B.
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    Abstract
    Organizing a large-scale, heterogeneous network of agents into clusters based on the agents’ class is a useful preprocessing step for cooperative tasks, where agents with the same capabilities need to be in the same location to cooperatively solve a task. In this paper, we investigate whether it is possible to apply an exogenous control signal to a heterogeneous network of agents, such that these agents form clusters of the same class of agents. We demonstrate that if each agent belongs to one of M “weight” classes and executes a weighted, forced agreement protocol, then it is possible to apply an external input signal that separates the network into M clusters corresponding to the M classes of agents.
    URI
    http://hdl.handle.net/1853/52654
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    • Georgia Robotics and InTelligent Systems Laboratory (GRITS) [230]
    • Georgia Robotics and InTelligent Systems Laboratory (GRITS) Publications [230]

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