Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency (with proofs)

We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations and compute near-optimal control gains in closed form. We show that the centralized control architecture is in general suboptimal when the communication increase with the number of links, and propose a control-driven optimization of the network topology.Comment: 18 pages, 9 figure