Abstract
In this work, we consider the controlled agreement problem for multi-agent networks, where a collection of agents take on leader roles while the remaining agents execute local, consensus-like protocols. Our aim is to identify reflections of graph-theoretic notions on systemtheoretic properties of such systems. In particular, we show how the symmetry structure of the network, characterized in terms of its automorphism group, directly relates to the controllability of the corresponding multi-agent system. Moreover, we introduce network equitable partitions as a means by which such controllability characterizations can be extended to the multileader setting.
| Original language | English |
|---|---|
| Pages (from-to) | 162-186 |
| Number of pages | 25 |
| Journal | SIAM Journal on Control and Optimization |
| Volume | 48 |
| Issue number | 1 |
| DOIs | |
| State | Published - Feb 23 2009 |
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Keywords
- Agreement dynamics
- Algebraic graph theory
- Automorphism group
- Controllability
- Equitable partitions
- Multi-agent systems
- Networked systems
ASJC Scopus subject areas
- Control and Optimization
- Applied Mathematics
Cite this
Controllability of multi-agent systems from a graph-theoretic perspective. / Rahmani, Amirreza; Ji, Meng; Mesbahi, Mehran; Egerstedt, Magnus.
In: SIAM Journal on Control and Optimization, Vol. 48, No. 1, 23.02.2009, p. 162-186.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Controllability of multi-agent systems from a graph-theoretic perspective
AU - Rahmani, Amirreza
AU - Ji, Meng
AU - Mesbahi, Mehran
AU - Egerstedt, Magnus
PY - 2009/2/23
Y1 - 2009/2/23
N2 - In this work, we consider the controlled agreement problem for multi-agent networks, where a collection of agents take on leader roles while the remaining agents execute local, consensus-like protocols. Our aim is to identify reflections of graph-theoretic notions on systemtheoretic properties of such systems. In particular, we show how the symmetry structure of the network, characterized in terms of its automorphism group, directly relates to the controllability of the corresponding multi-agent system. Moreover, we introduce network equitable partitions as a means by which such controllability characterizations can be extended to the multileader setting.
AB - In this work, we consider the controlled agreement problem for multi-agent networks, where a collection of agents take on leader roles while the remaining agents execute local, consensus-like protocols. Our aim is to identify reflections of graph-theoretic notions on systemtheoretic properties of such systems. In particular, we show how the symmetry structure of the network, characterized in terms of its automorphism group, directly relates to the controllability of the corresponding multi-agent system. Moreover, we introduce network equitable partitions as a means by which such controllability characterizations can be extended to the multileader setting.
KW - Agreement dynamics
KW - Algebraic graph theory
KW - Automorphism group
KW - Controllability
KW - Equitable partitions
KW - Multi-agent systems
KW - Networked systems
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UR - http://www.scopus.com/inward/citedby.url?scp=60349092443&partnerID=8YFLogxK
U2 - 10.1137/060674971
DO - 10.1137/060674971
M3 - Article
AN - SCOPUS:60349092443
VL - 48
SP - 162
EP - 186
JO - SIAM Journal on Control and Optimization
JF - SIAM Journal on Control and Optimization
SN - 0363-0129
IS - 1
ER -