Formation of Robust Multi-Agent Networks through Self-Organizing Random Regular Graphs
Formation of Robust Multi-Agent Networks through Self-Organizing Random Regular Graphs
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DOI：
10.1109/tnse.2015.2503983
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发表时间：
2015-03
影响因子：
6.6
通讯作者：
A. Y. Yazicioglu;M. Egerstedt;J. Shamma
中科院分区：
文献类型：
--
作者：
A. Y. Yazicioglu;M. Egerstedt;J. Shamma
多智能体网络通常被建模为交互图，其中节点表示智能体，边表示一些直接交互。多智能体网络对故障、噪声或恶意攻击等扰动的鲁棒性在很大程度上取决于相应的图。在许多应用中，网络需要具有良好连接的交互图，并且具有相对较少的链接数。随机正则图就是一类这样的图。本文提出了一个分散的方案，将任意平均度为k的连通交互图转化为连通随机m-正则图，其中m为E [k; k + 2]。因此，代理通过本地添加或移除一些边来提高网络的鲁棒性，同时保持与初始配置相似数量的链路。
Multi-agent networks are often modeled as interaction graphs, where the nodes represent the agents and the edges denote some direct interactions. The robustness of a multi-agent network to perturbations such as failures, noise, or malicious attacks largely depends on the corresponding graph. In many applications, networks are desired to have well-connected interaction graphs with relatively small number of links. One family of such graphs is the random regular graphs. In this paper, we present a decentralized scheme for transforming any connected interaction graph with a possibly non-integer average degree of k into a connected random m-regular graph for some m E [k; k + 2]. Accordingly, the agents improve the robustness of the network while maintaining a similar number of links as the initial configuration by locally adding or removing some edges.