COORDINATION OF LEADER-FOLLOWER MULTI-AGENT SYSTEM WITH TIME-VARYING OBJECTIVE FUNCTION

This thesis aims to introduce a new framework for the distributed control of multi-agent systems with adjustable swarm control objectives. Our goal is twofold: 1) to provide an overview to how time-varying objectives in the control of autonomous systems may be applied to the distributed control of multi-agent systems with variable autonomy level, and 2) to introduce a framework to incorporate the proposed concept to fundamental swarm behaviors such as aggregation and leader tracking. Leader-follower multi-agent systems are considered in this study, and a general form of time-dependent artificial potential function is proposed to describe the varying objectives of the system in the case of complete information exchange. Using Lyapunov methods, the stability and boundedness of the agents\u27 trajectories under single order and higher order dynamics are analyzed. Illustrative numerical simulations are presented to demonstrate the validity of our results. Then, we extend these results for multi-agent systems with limited information exchange and switching communication topology. The first steps of the realization of an experimental framework have been made with the ultimate goal of verifying the simulation results in practice

Randomizing world trade. II. A weighted network analysis

Based on the misleading expectation that weighted network properties always offer a more complete description than purely topological ones, current economic models of the International Trade Network (ITN) generally aim at explaining local weighted properties, not local binary ones. Here we complement our analysis of the binary projections of the ITN by considering its weighted representations. We show that, unlike the binary case, all possible weighted representations of the ITN (directed/undirected, aggregated/disaggregated) cannot be traced back to local country-specific properties, which are therefore of limited informativeness. Our two papers show that traditional macroeconomic approaches systematically fail to capture the key properties of the ITN. In the binary case, they do not focus on the degree sequence and hence cannot characterize or replicate higher-order properties. In the weighted case, they generally focus on the strength sequence, but the knowledge of the latter is not enough in order to understand or reproduce indirect effects.Comment: See also the companion paper (Part I): arXiv:1103.1243 [physics.soc-ph], published as Phys. Rev. E 84, 046117 (2011

Randomizing world trade. II. A weighted network analysis

Based on the misleading expectation that weighted network properties always offer a more complete description than purely topological ones, current economic models of the International Trade Network (ITN) generally aim at explaining local weighted properties, not local binary ones. Here we complement our analysis of the binary projections of the ITN by considering its weighted representations. We show that, unlike the binary case, all possible weighted representations of the ITN (directed/undirected, aggregated/disaggregated) cannot be traced back to local country-specific properties, which are therefore of limited informativeness. Our two papers show that traditional macroeconomic approaches systematically fail to capture the key properties of the ITN. In the binary case, they do not focus on the degree sequence and hence cannot characterize or replicate higher-order properties. In the weighted case, they generally focus on the strength sequence, but the knowledge of the latter is not enough in order to understand or reproduce indirect effects.Comment: See also the companion paper (Part I): arXiv:1103.1243 [physics.soc-ph], published as Phys. Rev. E 84, 046117 (2011