Consensus and Synchronization of Multi-agent Systems over Finite Fields -- Graph Topologies

Abstract

This paper brings cooperative protocols for multi-agent systems with agents having a finite state-space. Both scalar single-integrator consensus and general LTI systems synchronization are considered. Systems having a finite state-space describe agents with minimal memory capacity processing only a finite alphabet. Such systems are remarkably resilient to communication noise. The crucial problem, however, is to construct the admissible communication topology, which is NP-hard. We address this by efficiently exploring the subsets of admissible matrices and propose two new algorithms to generate the topologies. Simulations validate the proposed approach.

This work was co-funded by the European Union under the project ROBOPROX (reg. no. CZ.02.01.01/00/22_008/0004590)