1 research outputs found
Leader Selection in Multi-Agent Networks with Switching Topologies via Submodular Optimization
In leader-follower multi-agent networks with switching topologies, choosing a
subset of agents as leaders is a critical step to achieve desired performances.
In this paper, we concentrate on the problem of selecting a minimum-size set of
leaders that ensure the tracking of a reference signal in a highorder linear
multi-agent network with a set of given topology dependent dwell time (TDDT).
First, we derive a sufficient condition that guarantees the states of all
agents converging to an expected state trajectory. Second, by exploiting
submodular optimization method, we formulate the problem of identifying a
minimal leader set which satisfies the proposed sufficient condition. Third, we
present an algorithm with the provable optimality bound to solve the formulated
problem. Finally, several numerical examples are provided to verify the
effectiveness of the designed selection scheme.Comment: 11 pages, 4 figure