Distributed connectivity control in a dynamic network

摘要

In this paper, we propose a distributed algorithm to control connectivity of mobile agents in a constrained dynamic network. The connectivity property of the multi-agent system is quantified by the second smallest eigenvalue of the state dependent Laplacian of the proximity graph of agents. Motivated by k-regular graph characteristics, we consider a discrete-time model for autonomous agents. We explore an approach based on tentative overlay as a condition mapping from interrelation and interaction between each agent, which equipped with local sensing and wireless communication capabilities. It thereby shows that load balancing can be controlled with network's connectivity, while other than nearest neighbor information, our approach assumes no knowledge of global network topology. Simultaneously, a new collision avoidance method motivated by vertex coloring is presented for our distributed approach. In addition, simulations are provided that demonstrate the effectiveness of our theoretical results, for which we show a distributed dynamic programming of multi-agent system. © 2011 IEEE.