Optimal Network Topology of Multi-Agent Systems subject to Computation and Communication Latency (with proofs)
arXiv:2101.10394 · doi:10.1109/MED51440.2021.9480167
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.
arXiv commentCopyright (c) 2021 IEEE. Personal use of this material is permitted. However, permission to use this material for any other purposes must be obtained from the IEEE by sending a request to [email protected]