Structurally Observable Distributed Networks of Agents Under Cost and Robustness Constraints

• Type: Article in International Scientific Journal
• Date: 2018

Authors

Stephen Kruzick (Author) Other; Sergio Pequito (Author) Other; Soummya Kar (Author) Other; José M. F. Moura (Author) Other; António Pedro Aguiar (Author) FEUP

Journal

Title: IEEE Transactions on Signal and Information Processing over Networks

Vol. 4 No. 2

Pages: 236-247

ISSN: 2373-776X

Publisher: IEEE

Indexing

ISI Web of Knowledge - 6 Citations

Scopus - 8 Citations

INSPEC

Other information

Authenticus ID: P-00N-YK0

DOI: 10.1109/tsipn.2017.2681208

Abstract (EN): In many problems, agents cooperate locally so that a leader or fusion center can infer the state of every agent from probing the state of only a small number of agents. Versions of this problem arise when a fusion center reconstructs an extended physical field by accessing the state of just a few of the sensors measuring the field, or a leader monitors the formation of a team of robots. Given a link cost, the paper presents a polynomial time algorithm to design a minimum cost coordinated network dynamics followed by the agents, under an observability constraint. The problem is placed in the context of structural observability and solved even when up to k agents in the coordinated network dynamics fail.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12