Path choice problem on multi-agent systems: Heterogeneous case

In this paper, we deal with multi-agent systems and consider a path choice problem between agents. The systems are assumed to be heterogeneous, that is, the dynamics of agents can be different each other. Then, the problem is to find the optimal additional paths with which the convergence rates of the systems are improved to be fastest. We propose to approximate the dynamics of each agent by motif subsystems and then find the optimal additional path for the convergence rate. We also demonstrate numerical simulations for showing the effectiveness of our proposing method.