scholarly journals Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5014
Author(s):  
Karlo Griparić
Keyword(s):  
Communication Channels ◽  
Distributed Networks ◽  
Consensus Algorithm ◽  
Control Law ◽  
Algebraic Connectivity ◽  
Multi Agent Systems ◽  
Robot System ◽  
Agent Systems ◽  
Connectivity Preservation ◽  
Multi Agent

The effectiveness of collaboration in distributed networks, such as sensor networks and multi-agent systems, relies on nodes’ ability to exchange information. The availability of various communication protocols with different technical properties opens the possibility to guarantee connectivity during a system’s operation in any condition. A communication network can be represented by a graph on which connectivity can be expressed by a well-known algebraic connectivity value or Fiedler value. It is one of the most important tools used in many applications where connectivity preservation is required. In this paper, a trust-based consensus algorithm for algebraic connectivity estimation has been implemented. To guarantee the accomplishment of the global objective and the system’s performance, our contributions include: (i) a novel decentralized framework for combining multiple communication channels in a resulting channel and (ii) a decentralized algebraic connectivity control law that dynamically changes the number of agents in the system during operation. The proposed algebraic connectivity control strategy has been evaluated in simulations and in a real multi-robot system using two channels with different properties and initial topologies.

Consensus and Flocking With Connectivity Preservation of Uncertain Euler–Lagrange Multi-Agent Systems

2018 ◽  
Vol 140 (9) ◽  
Author(s):  
Yi Dong ◽  
Jie Huang
Keyword(s):  
Adaptive Control ◽  
Control Technique ◽  
Function Technique ◽  
Control Law ◽  
Consensus Problem ◽  
Multi Agent Systems ◽  
Communication Graph ◽  
Agent Systems ◽  
Connectivity Preservation ◽  
Multi Agent

The consensus problem for multiple Euler–Lagrange systems has been extensively studied under various assumptions on the connectivity of the communication graph. In practice, it is desirable to enable the control law the capability of maintaining the connectivity of the communication graph, thus achieving consensus without assuming the connectivity of the communication graph. We call such a problem as consensus with connectivity preservation. In this paper, we will study this problem for multiple uncertain Euler–Lagrange systems. By combining the adaptive control technique and potential function technique, we will show that such a problem is solvable under a set of standard assumptions. By employing different potential functions, our approach will also lead to the solution of such problems as rendezvous and flocking.

scholarly journals On Consensus Index of Triplex Star-Like Networks: A Graph Spectra Approach

Symmetry ◽  
2021 ◽  
Vol 13 (7) ◽  
pp. 1248
Author(s):  
Da Huang ◽  
Jian Zhu ◽  
Zhiyong Yu ◽  
Haijun Jiang
Keyword(s):  
Algebraic Connectivity ◽  
Multi Agent Systems ◽  
Graph Spectra ◽  
Asymptotic Behaviors ◽  
Agent Systems ◽  
First Order ◽  
Laplacian Spectra ◽  
Multi Agent ◽  
Consensus Index

In this article, the consensus-related performances of the triplex multi-agent systems with star-related structures, which can be measured by the algebraic connectivity and network coherence, have been studied by the characterization of Laplacian spectra. Some notions of graph operations are introduced to construct several triplex networks with star substructures. The methods of graph spectra are applied to derive the network coherence, and some asymptotic behaviors of the indices have been derived. It is found that the operations of adhering star topologies will make the first-order coherence increase a constant value under the triplex structures as parameters tend to infinity, and the second-order coherence have some equality relations as the node related parameters tend to infinity. Finally, the consensus related indices of the triplex systems with the same number of nodes but non-isomorphic graph structures have been compared and simulated to verify the results.

Energy-Balanced Leader-Switching Policy for Formation Rotation Control of Multi-Agent Systems Inspired by Bird Flocks

2019 ◽  
Author(s):  
Corey Dotson ◽  
Geronimo Macias ◽  
Kooktae Lee
Keyword(s):  
Formation Control ◽  
Consensus Algorithm ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Switching Algorithm ◽  
Multi Agent ◽  
Migrating Birds ◽  
Switching Method ◽  
Rotation Strategy ◽  
Flocking Behavior

Abstract This paper addresses an energy-balanced leader-switching policy for formation rotation control of multi-agent systems inspired by bird flocks. Birds that flock in V-formation with a leader rotation strategy are able to travel longer distances due to reduced drag and therefore less energy expenditure. This flocking behavior with a leader rotation will result in more conservation of overall energy and will be particularly beneficial to migrating birds that should fly long distances without landing. In this paper, we propose an energy-balanced leader-switching policy inspired by this bird flocking behavior in order to increase the flight range for multi-agent systems. The formation control of multi-agent systems is achieved by the consensus algorithm, which is fully decentralized through the use of information exchanges between agents. The proposed leader-switching method is not necessarily incorporated with the consensus dynamics and thus, the leader-switching algorithm can be decoupled from formation control dynamics. Therefore, the proposed method can simplify the leader-switching algorithm, making it easy to implement. Moreover, we propose the analytic flight distance based on the energy consumption model for each agent. To test the validity of the developed method, several simulation results are presented.

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