Title :
Identifiability of links and nodes in multi-agent systems under the agreement protocol
Author :
Rahimian, M.A. ; Ajorlou, Amir ; Tutunov, Rasul ; Aghdam, Amir G.
Author_Institution :
Concordia Univ., Montreal, QC, Canada
Abstract :
In this paper, the question of identifying various links and nodes in the network based on the observed agent dynamics is addressed. The focus is on a multi-agent network that evolves under the linear agreement protocol. The results help determine if various components of the network are distinguishable from each other, based on the choice of initial conditions and the observed output responses. Identifiability of links and nodes are studied separately, and in each case, the role of symmetries in the network information flow graph are analyzed. Examples are provided to elucidate the results.
Keywords :
graph theory; multi-agent systems; multi-robot systems; network theory (graphs); robot dynamics; linear agreement protocol; link identification; multiagent network; multiagent systems; network information flow graph analysis; node identification; observed agent dynamics; Laplace equations; Multi-agent systems; Protocols; Robots; Symmetric matrices; Vectors; Vehicle dynamics;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580915
