Decentralized Laplacian eigenvalues estimation for networked multi-agent systems

Author

Franceschelli, Mauro ; Gasparri, Andrea ; Giua, Alessandro ; Seatzu, Carla

Author_Institution

Dept. of Electr. & Electron. Eng., Univ. of Cagliari, Cagliari, Italy

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

2717

Lastpage

2722

Abstract

In this paper we present a novel decentralized algorithm to estimate the eigenvalues of the Laplacian of the network topology of a multi-agent system. The basic idea is to provide a local interaction rule among agents so that their state oscillates only at frequencies corresponding to eigenvalues of the network topology. In this way, the problem of decentralized eigenvalue estimation is mapped into a problem of signal processing, solvable by applying the fast Fourier transform (FFT).

Keywords

Laplace transforms; eigenvalues and eigenfunctions; fast Fourier transforms; multi-agent systems; decentralized Laplacian eigenvalues estimation; decentralized algorithm; fast Fourier transform; local interaction rule; network topology; networked multiagent system; signal processing; Eigenvalues and eigenfunctions; Fast Fourier transforms; Frequency; Graph theory; Laplace equations; Mobile robots; Multiagent systems; Network topology; Signal processing algorithms; Time varying systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400723

Filename

5400723