| 1. |
- Aragues, Rosario, et al.
(författare)
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Distributed algebraic connectivity estimation for undirected graphs with upper and lower bounds
- 2014
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Ingår i: Automatica. - : Elsevier BV. - 0005-1098 .- 1873-2836. ; 50:12, s. 3253-3259
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Tidskriftsartikel (refereegranskat)abstract
- The algebraic connectivity of the graph Laplacian plays an essential role in various multi-agent control systems. In many cases a lower bound of this algebraic connectivity is necessary in order to achieve a certain performance. Lately, several methods based on distributed Power Iteration have been proposed for computing the algebraic connectivity of a symmetric Laplacian matrix. However, these methods cannot give any lower bound of the algebraic connectivity and their convergence rates are often unclear. In this paper, we present a distributed algorithm for estimating the algebraic connectivity for undirected graphs with symmetric Laplacian matrices. Our method relies on the distributed computation of the powers of the adjacency matrix and its main interest is that, at each iteration, agents obtain both upper and lower bounds for the true algebraic connectivity. Both bounds successively approach the true algebraic connectivity with the convergence speed no slower than O(1/k).
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| 2. |
- Aragues, Rosario, et al.
(författare)
-
Intermittent Connectivity Maintenance With Heterogeneous Robots
- 2021
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Ingår i: IEEE Transactions on robotics. - : IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. - 1552-3098 .- 1941-0468. ; 37:1, s. 225-245
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into a one-dimensional cycle graph that is traversed by the communicating robots, and we discuss intermittent communication strategies so that each task location is periodically visited, with a worst-case revisiting time. Robots move forward and backward along the cycle graph, exchanging data with their previous and next neighbors when they meet, and updating their region boundaries. Asymptotically, each robot is in charge of a region of the cycle graph, depending on its capabilities. The method is distributed, and robots only exchange data when they meet.
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