DocumentCode
3174147
Title
A Graph-Theoretic Characterization of Controllability for Multi-agent Systems
Author
Ji, Meng ; Egerstedt, Magnus
Author_Institution
Georgia Inst. of Technol., Atlanta
fYear
2007
fDate
9-13 July 2007
Firstpage
4588
Lastpage
4593
Abstract
In this paper, we continue our pursuit of conditions that render a multi-agent networked system controllable. In particular, such conditions are sought for networks in which a collection of the agents take on leader roles while the remaining agents execute local, consensus-like control laws. Equitable partitions are introduced in order to improve on previous controllability results and the main contribution of this paper is a new necessary condition for controllability.
Keywords
controllability; graph theory; multi-robot systems; network theory (graphs); controllability; equitable partitions; graph theory; multiagent networked system; Cities and towns; Control systems; Controllability; Graph theory; Laplace equations; Military computing; Multiagent systems; Network topology; Sufficient conditions; Tail; Controllability; Equitable partitions; Graph theory; Multi-Agent systems; Networked system;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2007. ACC '07
Conference_Location
New York, NY
ISSN
0743-1619
Print_ISBN
1-4244-0988-8
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2007.4283010
Filename
4283010
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