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Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels
The effectiveness of collaboration in distributed networks, such as sensor networks and multi-agent systems, relies on nodes’ ability to exchange information. The availability of various communication protocols with different technical properties opens the possibility to guarantee connectivity durin...
Autor principal: | |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8347504/ https://www.ncbi.nlm.nih.gov/pubmed/34372250 http://dx.doi.org/10.3390/s21155014 |
Sumario: | The effectiveness of collaboration in distributed networks, such as sensor networks and multi-agent systems, relies on nodes’ ability to exchange information. The availability of various communication protocols with different technical properties opens the possibility to guarantee connectivity during a system’s operation in any condition. A communication network can be represented by a graph on which connectivity can be expressed by a well-known algebraic connectivity value or Fiedler value. It is one of the most important tools used in many applications where connectivity preservation is required. In this paper, a trust-based consensus algorithm for algebraic connectivity estimation has been implemented. To guarantee the accomplishment of the global objective and the system’s performance, our contributions include: (i) a novel decentralized framework for combining multiple communication channels in a resulting channel and (ii) a decentralized algebraic connectivity control law that dynamically changes the number of agents in the system during operation. The proposed algebraic connectivity control strategy has been evaluated in simulations and in a real multi-robot system using two channels with different properties and initial topologies. |
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