Title :
Dynamic leader-follower algorithms in mobile multi-agent networks
Author :
Safavi, Sam ; Khan, Usman A.
Author_Institution :
Department of Electrical and Computer Engineering, Tufts University, Medford, MA 02155, USA
Abstract :
In this paper, we consider a Linear Time-Varying (LTV) model to describe the dynamics of a leader-follower algorithms with mobile agents. We first develop regularity conditions on the LTV system matrices, according to a random motion of the agents and the underlying communication protocol. We then study the convergence of all agents to the state of the leader, and show that this requires the underlying LTV system to be asymptotically stable. We introduce the notion of slices as non-overlapping partitions of the LTV system matrices, and relate the convergence of the multi-agent network to the length of these slices. Finally, we demonstrate the convergence and steady-state of a dynamic leader-follower network through simulations.
Keywords :
Control systems; Convergence; Heuristic algorithms; Mobile agents; Mobile communication; Robot sensing systems; Vehicle dynamics; Asymptotic stability; Dynamic networks; LTV systems; Leader-follower;
Conference_Titel :
Digital Signal Processing (DSP), 2015 IEEE International Conference on
Conference_Location :
Singapore, Singapore
DOI :
10.1109/ICDSP.2015.7251321