Title :
A Graph-Theoretic Characterization of Controllability for Multi-agent Systems
Author :
Ji, Meng ; Egerstedt, Magnus
Author_Institution :
Georgia Inst. of Technol., Atlanta
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;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4283010
