A Separation Signal for Heterogeneous Networks

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Date
2013-10Author
de la Croix, Jean-Pierre
Egerstedt, Magnus B.
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Show full item recordAbstract
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.