TY - GEN
T1 - Optimal leader selection for controllability and robustness in multi-agent networks
AU - Fitch, Katherine
AU - Leonard, Naomi Ehrich
N1 - Publisher Copyright:
© 2016 EUCA.
PY - 2016
Y1 - 2016
N2 - Two optimal leader selection problems are examined for multi-agent networks. The optimal leader set is the set of m > 0 leaders that maximizes performance of a linear dynamic network. In the problem for controllability, each leader is identified with a control input, and performance is measured by average controllability and reachable subspace volume. In the problem for robustness, each leader responds to an external signal, the linear dynamics are noisy, and the performance is measured by the steady-state system error. Previously, we showed that the optimal leader set for robustness maximizes a joint centrality in the network graph. In this paper, we show how the optimal leader set for controllability depends also on measures of the graph, including information centrality of leaders and eigenvectors of the graph Laplacian. We explore a fundamental trade-off between optimal leader selection for controllability and for robustness, and we outline a distributed algorithm for the selection of a pair of leaders in trees.
AB - Two optimal leader selection problems are examined for multi-agent networks. The optimal leader set is the set of m > 0 leaders that maximizes performance of a linear dynamic network. In the problem for controllability, each leader is identified with a control input, and performance is measured by average controllability and reachable subspace volume. In the problem for robustness, each leader responds to an external signal, the linear dynamics are noisy, and the performance is measured by the steady-state system error. Previously, we showed that the optimal leader set for robustness maximizes a joint centrality in the network graph. In this paper, we show how the optimal leader set for controllability depends also on measures of the graph, including information centrality of leaders and eigenvectors of the graph Laplacian. We explore a fundamental trade-off between optimal leader selection for controllability and for robustness, and we outline a distributed algorithm for the selection of a pair of leaders in trees.
UR - http://www.scopus.com/inward/record.url?scp=85015018379&partnerID=8YFLogxK
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U2 - 10.1109/ECC.2016.7810511
DO - 10.1109/ECC.2016.7810511
M3 - Conference contribution
AN - SCOPUS:85015018379
T3 - 2016 European Control Conference, ECC 2016
SP - 1550
EP - 1555
BT - 2016 European Control Conference, ECC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 European Control Conference, ECC 2016
Y2 - 29 June 2016 through 1 July 2016
ER -