Controllability of a swarm of topologically interacting autonomous agents

Controllability of complex networks has been the focal point of many recent studies in the field of complexity. These landmark advances shed a new light on the dynamics of natural and technological complex systems. Here, we analyze the controllability of a swarm of autonomous self-propelled agents having a topological neighborhood of interactions, applying the analytical tools developed for the study of the controllability of arbitrary complex directed networks. To this aim we thoroughly investigate the structural properties of the swarm signaling network which is the information transfer channel underpinning the dynamics of agents in the physical space. Our results show that with 6 or 7 topological neighbors, every agent not only affects, but is also affected by all other agents within the group. More importantly, still with 6 or 7 topological neighbors, each agent is capable of full control over all other agents. This finding is yet another argument justifying the particular value of the number of topological neighbors observed in field observations with flocks of starlings.Comment: 9 pages, 3 figures. arXiv admin note: text overlap with arXiv:1401.259

Structural Controllability of Switched Continuous and Discrete Time Linear Systems

This paper explores the structural controllability of switched continuous and discrete time linear systems. It identifies a gap in the proof for a pivotal criterion for structural controllability of switched continuous time systems in the literature. To address this void, we develop novel graph-theoretic concepts, such as multi-layer dynamic graphs, generalized stems/buds, and generalized cactus configurations, and based on them, provide a comprehensive proof for this criterion. Our approach also induces a new, generalized cactus based graph-theoretic criterion for structural controllability. This not only extends Lin's cactus-based graph-theoretic condition to switched systems for the first time, but also provides a lower bound for the generic dimension of controllable subspaces (which is conjectured to be exact). Finally, we present extensions to reversible switched discrete-time systems, which lead to not only a simplified necessary and sufficient condition for structural controllability, but also the determination of the generic dimension of controllable subspaces.Comment: Submitted to a journa