On the number of leaders needed to ensure network connectivity in arbitrary dimensions
Name
Gustavi-2009-On the number of leaders needed to ensure network connectivity in arbitrary dimensions.pdf
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240.82 KB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Gustavi, Tove
Dimarogonas, Dimos V.
Egerstedt, Magnus
Hu, Xiaoming
Date Issued
July 2009
Journal
17th Mediterranean Conference on Control and Automation, 2009. MED '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
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.
Version
Final published version
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
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.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/MED.2009.5164521
