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arXiv · 2101.10394

Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency (with proofs)

Luca Ballotta·Mihailo R. Jovanović·Luca Schenato
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Abstract

We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations and compute near-optimal control gains in closed form. We show that the centralized control architecture is in general suboptimal when the communication increase with the number of links, and propose a control-driven optimization of the network topology.

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Luca Ballotta, Mihailo R. Jovanović, Luca Schenato. 2021-01-25. Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency (with proofs). https://doi.org/10.1109/med51440.2021.9480167

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