Cluster consensus with point group symmetries

DOI10.1137/16M1070876MaRDI QIDQ4596859zbMATH OpenOpenAlexFDO

Authors Xudong Chen, Mohamed-Ali Belabbas, Tamer Başar

Publication date 11 December 2017

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1601.06346

zbMATH Keywords

cluster consensusdecentralized systemsexponential convergencepoint groupsvoltage graphs

Mathematics Subject Classification ID

Planar graphs; geometric and topological aspects of graph theory (05C10) Clustering in the social and behavioral sciences (91C20) Asymptotic stability in control theory (93D20) Applications of graph theory to circuits and networks (94C15)

Abstract: A cluster consensus system is a multi-agent system in which the autonomous agents communicate to form multiple clusters, with each cluster of agents asymptotically converging to the same clustering point. We introduce in this paper a special class of cluster consensus dynamics, termed the $G$-clustering dynamics for $G$ a point group, whereby the autonomous agents can form as many as $|G|$ clusters, and moreover, the associated $|G|$ clustering points exhibit a geometric symmetry induced by the point group. The definition of a $G$-clustering dynamics relies on the use of the so-called voltage graph. We recall that a $G$-voltage graph is comprised of two elements---one is a directed graph (digraph), and the other is a map assigning elements of a group~$G$ to the edges of the digraph. For example, in the case when $G=1,-1$, i.e., a cyclic group of order~$2$, a voltage graph is nothing but a signed graph. A $G$-clustering dynamics can then be viewed as a generalization of the so-called Altafini's model, which was originally defined over a signed graph, by defining the dynamics over a voltage graph. One of the main contributions of this paper is to identify a necessary and sufficient condition for the exponential convergence of a $G$-clustering dynamics. Various properties of voltage graphs that are necessary for establishing the convergence result are also investigated, some of which might be of independent interest in topological graph theory.

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Cited in

(2)

• A novel clustering method based on quasi-consensus motions of dynamical multiagent systems
• Gossip over holonomic graphs

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