A Supermodular Optimization Framework for Leader Selection Under Link Noise in Linear Multi-Agent Systems

DOI10.1109/TAC.2013.2281473MaRDI QIDQ2983253zbMATH OpenOpenAlexFDO

Authors

Publication date 16 May 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1208.0946

Mathematics Subject Classification ID

Communication networks in operations research (90B18) Decentralized systems (93A14) Design techniques (robust design, computer-aided design, etc.) (93B51)

Abstract: In many applications of multi-agent systems (MAS), a set of leader agents acts as a control input to the remaining follower agents. In this paper, we introduce an analytical approach to selecting leader agents in order to minimize the total mean-square error of the follower agent states from their desired value in steady-state in the presence of noisy communication links. We show that the problem of choosing leaders in order to minimize this error can be solved using supermodular optimization techniques, leading to efficient algorithms that are within a provable bound of the optimum. We formulate two leader selection problems within our framework, namely the problem of choosing a fixed number of leaders to minimize the error, as well as the problem of choosing the minimum number of leaders to achieve a tolerated level of error. We study both leader selection criteria for different scenarios, including MAS with static topologies, topologies experiencing random link or node failures, switching topologies, and topologies that vary arbitrarily in time due to node mobility. In addition to providing provable bounds for all these cases, simulation results demonstrate that our approach outperforms other leader selection methods, such as node degree-based and random selection methods, and provides comparable performance to current state of the art algorithms.

Cited in

(13)

• Nodes selection strategy in cooperative tracking problem
• Flocking of networked Euler-Lagrange systems with uncertain parameters and time-delays under directed graphs
• A sub-modular receding horizon solution for mobile multi-agent persistent monitoring
• Maximizing the smallest eigenvalue of a symmetric matrix: a submodular optimization approach
• Resilient output synchronization dynamic event-triggered control to link faults in heterogeneous multi-agent systems
• Performance of leader-follower multi-agent systems in directed networks
• Spectrum computation and optimization for controllability Gramian of networked Laplacian systems with limited control placement
• Leader selection in networks under switching topologies with antagonistic interactions
• Leader selection problem for stochastically forced consensus networks based on matrix differentiation
• Input matrix construction and approximation using a graphic approach
• Leader-follower coherence of the weighted recursive tree networks
• Leader-follower consensus of time-varying nonlinear multi-agent systems
• Submodularity-based false data injection attack scheme in multi-agent dynamical systems

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