On the number of leaders needed to ensure network connectivity in arbitrary dimensions
We examine the leader-to-follower ratio needed to maintain connectivity in a leader-follower multi-agent network with proximity based communication topology. The paper extends the one-dimensional results of [2] to the two dimensional case. In the scenario we consider, only the leaders are aware of t...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/59369 |
| _version_ | 1826190701727055872 |
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| author | Gustavi, Tove Dimarogonas, Dimos V. Egerstedt, Magnus Hu, Xiaoming |
| author2 | Massachusetts Institute of Technology. Laboratory for Information and Decision Systems |
| author_facet | Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Gustavi, Tove Dimarogonas, Dimos V. Egerstedt, Magnus Hu, Xiaoming |
| author_sort | Gustavi, Tove |
| collection | MIT |
| description | We examine the leader-to-follower ratio needed to maintain connectivity in a leader-follower multi-agent network with proximity based communication topology. The paper extends the one-dimensional results of [2] to the two dimensional case. In the scenario we consider, only the leaders are aware of the global mission, which is to converge to a known destination point. Thus, the objective of the leaders is to drag the team to the desired goal. In the paper we obtain bounds on the number of leaders needed to complete the task. The results are first established for an initially complete communication graph and then extended to the incomplete case. Computer simulations support the derived theory. |
| first_indexed | 2024-09-23T08:44:24Z |
| format | Article |
| id | mit-1721.1/59369 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T08:44:24Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/593692022-09-30T10:53:30Z On the number of leaders needed to ensure network connectivity in arbitrary dimensions Gustavi, Tove Dimarogonas, Dimos V. Egerstedt, Magnus Hu, Xiaoming Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Dimarogonas, Dimos V. Dimarogonas, Dimos V. We examine the leader-to-follower ratio needed to maintain connectivity in a leader-follower multi-agent network with proximity based communication topology. The paper extends the one-dimensional results of [2] to the two dimensional case. In the scenario we consider, only the leaders are aware of the global mission, which is to converge to a known destination point. Thus, the objective of the leaders is to drag the team to the desired goal. In the paper we obtain bounds on the number of leaders needed to complete the task. The results are first established for an initially complete communication graph and then extended to the incomplete case. Computer simulations support the derived theory. 2010-10-15T15:08:41Z 2010-10-15T15:08:41Z 2009-07 2009-06 Article http://purl.org/eprint/type/JournalArticle 978-1-4244-4684-1 INSPEC Accession Number: 10777057 http://hdl.handle.net/1721.1/59369 Gustavi, T. et al. “On the number of leaders needed to ensure network connectivity in arbitrary dimensions.” Control and Automation, 2009. MED '09. 17th Mediterranean Conference on. 2009. 98-103. ©2009 Institute of Electrical and Electronics Engineers. en_US http://dx.doi.org/10.1109/MED.2009.5164521 17th Mediterranean Conference on Control and Automation, 2009. MED '09 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Gustavi, Tove Dimarogonas, Dimos V. Egerstedt, Magnus Hu, Xiaoming On the number of leaders needed to ensure network connectivity in arbitrary dimensions |
| title | On the number of leaders needed to ensure network connectivity in arbitrary dimensions |
| title_full | On the number of leaders needed to ensure network connectivity in arbitrary dimensions |
| title_fullStr | On the number of leaders needed to ensure network connectivity in arbitrary dimensions |
| title_full_unstemmed | On the number of leaders needed to ensure network connectivity in arbitrary dimensions |
| title_short | On the number of leaders needed to ensure network connectivity in arbitrary dimensions |
| title_sort | on the number of leaders needed to ensure network connectivity in arbitrary dimensions |
| url | http://hdl.handle.net/1721.1/59369 |
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