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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...

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Detalles Bibliográficos
Autor principal: Griparić, Karlo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
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
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author Griparić, Karlo
author_facet Griparić, Karlo
author_sort Griparić, Karlo
collection PubMed
description 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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spelling pubmed-83475042021-08-08 Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels Griparić, Karlo Sensors (Basel) Article 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. MDPI 2021-07-23 /pmc/articles/PMC8347504/ /pubmed/34372250 http://dx.doi.org/10.3390/s21155014 Text en © 2021 by the author. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Griparić, Karlo
Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels
title Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels
title_full Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels
title_fullStr Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels
title_full_unstemmed Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels
title_short Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels
title_sort algebraic connectivity control in distributed networks by using multiple communication channels
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8347504/
https://www.ncbi.nlm.nih.gov/pubmed/34372250
http://dx.doi.org/10.3390/s21155014
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