ArticleSensors (Basel, Switzerland)2021
Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
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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