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Leader localization in multi-agent systems subject to failure: A graph-theoretic approach

Title:

Leader localization in multi-agent systems subject to failure: A graph-theoretic approach

Jafari, Saeid, Ajorlou, Amir and Aghdam, Amir G. (2011) Leader localization in multi-agent systems subject to failure: A graph-theoretic approach. Automatica, 47 (8). pp. 1744-1750. ISSN 00051098

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Official URL: http://dx.doi.org/10.1016/j.automatica.2011.02.051

Abstract

In this paper, structural controllability of a leader–follower multi-agent system with multiple leaders is studied. A graphical condition for structural controllability based on the information flow graph of the system is provided. The notions of p-link and q-agent controllability in a multi-leader setting are then introduced, which provide quantitative measures for the controllability of a system subject to failure in the agents and communication links. The problem of leader localization is introduced, which is concerned with finding the minimum number of agents whose selection as leaders results in a p-link or q-agent controllable network. Polynomial-time algorithms are subsequently presented to solve the problem for both cases of undirected and directed information flow graphs.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Electrical and Computer Engineering
Item Type:Article
Refereed:Yes
Authors:Jafari, Saeid and Ajorlou, Amir and Aghdam, Amir G.
Journal or Publication:Automatica
Date:2011
Digital Object Identifier (DOI):10.1016/j.automatica.2011.02.051
Keywords:Multi-agent systems; Controllability; Graph theory
ID Code:975175
Deposited By: DANIELLE DENNIE
Deposited On:22 Jan 2013 14:35
Last Modified:18 Jan 2018 17:39

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