Topological Measure Locating the Effective Crossover between Segregation and Integration in a Modular Network

We introduce an easily computable topological measure which locates the effective crossover between segregation and integration in a modular network. Segregation corresponds to the degree of network modularity, while integration is expressed in terms of the algebraic connectivity of an associated hyper-graph. The rigorous treatment of the simplified case of cliques of equal size that are gradually rewired until they become completely merged, allows us to show that this topological crossover can be made to coincide with a dynamical crossover from cluster to global synchronization of a system of coupled phase oscillators. The dynamical crossover is signaled by a peak in the product of the measures of intra-cluster and global synchronization, which we propose as a dynamical measure of complexity. This quantity is much easier to compute than the entropy (of the average frequencies of the oscillators), and displays a behavior which closely mimics that of the dynamical complexity index based on the latter. The proposed toplogical measure simultaneously provides information on the dynamical behavior, sheds light on the interplay between modularity vs total integration and shows how this affects the capability of the network to perform both local and distributed dynamical tasks

Uniform synchronous criticality of diversely random complex networks

We investigate collective synchronous behaviors in random complex networks of limit-cycle oscillators with the non-identical asymmetric coupling scheme, and find a uniform coupling criticality of collective synchronization which is independent of complexity of network topologies. Numerically simulations on categories of random complex networks have verified this conclusion.Comment: 8 pages, 4 figure

Cooperative Simultaneous Localization and Synchronization in Mobile Agent Networks

Cooperative localization in agent networks based on interagent time-of-flight measurements is closely related to synchronization. To leverage this relation, we propose a Bayesian factor graph framework for cooperative simultaneous localization and synchronization (CoSLAS). This framework is suited to mobile agents and time-varying local clock parameters. Building on the CoSLAS factor graph, we develop a distributed (decentralized) belief propagation algorithm for CoSLAS in the practically important case of an affine clock model and asymmetric time stamping. Our algorithm allows for real-time operation and is suitable for a time-varying network connectivity. To achieve high accuracy at reduced complexity and communication cost, the algorithm combines particle implementations with parametric message representations and takes advantage of a conditional independence property. Simulation results demonstrate the good performance of the proposed algorithm in a challenging scenario with time-varying network connectivity.Comment: 13 pages, 6 figures, 3 tables; manuscript submitted to IEEE Transaction on Signal Processin

Network synchronization landscape reveals compensatory structures, quantization, and the positive effect of negative interactions

Synchronization, in which individual dynamical units keep in pace with each other in a decentralized fashion, depends both on the dynamical units and on the properties of the interaction network. Yet, the role played by the network has resisted comprehensive characterization within the prevailing paradigm that interactions facilitating pair-wise synchronization also facilitate collective synchronization. Here we challenge this paradigm and show that networks with best complete synchronization, least coupling cost, and maximum dynamical robustness, have arbitrary complexity but quantized total interaction strength that constrains the allowed number of connections. It stems from this characterization that negative interactions as well as link removals can be used to systematically improve and optimize synchronization properties in both directed and undirected networks. These results extend the recently discovered compensatory perturbations in metabolic networks to the realm of oscillator networks and demonstrate why "less can be more" in network synchronization.Comment: 11 pages and 8 figures (including Supporting Information), Supporting video available at http://www.youtube.com/watch?v=3dMI1Yyxmb

Balanced Truncation of Networked Linear Passive Systems

This paper studies model order reduction of multi-agent systems consisting of identical linear passive subsystems, where the interconnection topology is characterized by an undirected weighted graph. Balanced truncation based on a pair of specifically selected generalized Gramians is implemented on the asymptotically stable part of the full-order network model, which leads to a reduced-order system preserving the passivity of each subsystem. Moreover, it is proven that there exists a coordinate transformation to convert the resulting reduced-order model to a state-space model of Laplacian dynamics. Thus, the proposed method simultaneously reduces the complexity of the network structure and individual agent dynamics, and it preserves the passivity of the subsystems and the synchronization of the network. Moreover, it allows for the a priori computation of a bound on the approximation error. Finally, the feasibility of the method is demonstrated by an example