Title :
Optimal strategies in the average consensus problem
Author :
Delvenne, Jean-Charles ; Carli, Raffaele
Author_Institution :
Imperial Coll. London, London
Abstract :
We prove that for a set of communicating agents to compute the average of their initial positions (average consensus problem), the optimal topology of communication is given by a de Bruijn´s graph. Consensus is then reached in a finitely many steps. A more general family of strategies, constructed by block Kronecker products, is investigated and compared to Cayley strategies.
Keywords :
graph theory; linear quadratic control; multi-robot systems; position control; Bruijn graph; agent position; average consensus problem; block Kronecker product; communicating agents; linear quadratic regulator; optimal strategy; optimal topology; Communication system control; Convergence; Distributed control; Graph theory; Optimal control; Remotely operated vehicles; Topology; USA Councils; Underwater vehicles; Wireless sensor networks;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434483
