TY - GEN
T1 - A submodular optimization framework for leader selection in linear multi-agent systems
AU - Clark, Andrew
AU - Poovendran, Radha
PY - 2011
Y1 - 2011
N2 - A broad class of multi-agent systems are leader-follower systems, in which the states of a set of leader agents are used to influence the states of the remaining agents. In this paper, we study the problem of choosing specific agents that will act as leaders in order to optimize system performance. We show that for a diverse set of networked multi-agent systems, including systems with constant and time-varying topologies, the leader selection problem can be studied using a submodular optimization framework. We further show that the problems of choosing a predefined number of leader nodes, as well as choosing both the number and specific nodes to satisfy a performance requirement, can be formulated within the proposed submodular optimization framework. We derive analytical performance bounds for the proposed solutions for linear multi-agent systems with static as well as time-varying network topologies. Numerical illustration is provided for the proposed approach.
AB - A broad class of multi-agent systems are leader-follower systems, in which the states of a set of leader agents are used to influence the states of the remaining agents. In this paper, we study the problem of choosing specific agents that will act as leaders in order to optimize system performance. We show that for a diverse set of networked multi-agent systems, including systems with constant and time-varying topologies, the leader selection problem can be studied using a submodular optimization framework. We further show that the problems of choosing a predefined number of leader nodes, as well as choosing both the number and specific nodes to satisfy a performance requirement, can be formulated within the proposed submodular optimization framework. We derive analytical performance bounds for the proposed solutions for linear multi-agent systems with static as well as time-varying network topologies. Numerical illustration is provided for the proposed approach.
UR - https://www.scopus.com/pages/publications/84860701648
U2 - 10.1109/CDC.2011.6160248
DO - 10.1109/CDC.2011.6160248
M3 - Conference contribution
AN - SCOPUS:84860701648
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3614
EP - 3621
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -