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

DOI10.1109/TAC.2013.2281473zbMATH Open1360.93021arXiv1208.0946OpenAlexW2963300745MaRDI QIDQ2983253FDOQ2983253

Authors:

Publication date: 16 May 2017

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

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.

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)

Cited In (13)

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

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