Multi-agent coordination of networked mobile agents with hierarchical dynamic graph

In this paper, we discuss the collective behaviors of a group of autonomous agents. Hierarchical analysis and control are considered to explore the evolution and coordination controllability of multi-agent systems. Multi-agent grouping and interaction structures are investigated with help of graph and lattice theory. By extending the existing works on dynamic graphs, we establish a hierarchical model to describe multi-agent coordination controllability with the consistence between high-level graph dynamics and low-level agent dynamics.