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Stability of multiagent systems with time-dependent communication links
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Abstract
We study a simple but compelling model of network of agents interacting via time-dependent communication links. The model finds application in a variety of fields including synchronization, swarming and distributed decision making. In the model, each agent updates his current state based upon the current information received from neighboring agents. Necessary and/or sufficient conditions for the convergence of the individual agents' states to a common value are presented, thereby extending recent results reported in the literature. The stability analysis is based upon a blend of graph-theoretic and system-theoretic tools with the notion of convexity playing a central role. The analysis is integrated within a formal framework of set-valued Lyapunov theory, which may be of independent interest. Among others, it is observed that more communication does not necessarily lead to faster convergence and may eventually even lead to a loss of convergence, even for the simple models discussed in the present paper.
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Cite it as
@article{moreau2005stability,
title = {Stability of multiagent systems with time-dependent communication links},
author = {Luc Moreau},
year = {2005},
journal = {IEEE Transactions on Automatic Control},
publisher = {Institute of Electrical and Electronics Engineers},
volume = {50},
number = {2},
pages = {169--182},
doi = {10.1109/tac.2004.841888},
}