Distributed Topology Control of Dynamic Networks

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Lab Papers (GRASP)
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distributed parameter networks
graph theory
mobile radio
mobile robots
multi-robot systems
radio links
algebraic graph theory
asynchronous networked control system
distributed coordination protocols
distributed topology control
dynamic multiagent networks
gossip algorithms
multihop communication links
nontrivial computer simulations
power constraints
virtual market
wireless communication capabilities
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In this paper, we present a distributed control framework for controlling the topology of dynamic multi-agent networks. Agents are equipped with local sensing and wireless communication capabilities, however, due to power constraints, they are required to switch between two modes of operation, namely active and sleep. The control objective investigated in this paper is to determine distributed coordination protocols that regulate switching between the operation modes of every agent such that the overall network guarantees multi-hop communication links among a subset of so called boundary agents. In the proposed framework, coordination is based on a virtual market where every request to switch off is associated with a bid. Combinations of requests are verified with respect to connectivity and the one corresponding to the highest aggregate bid is finally served. Other than nearest neighbor information, our approach assumes no knowledge of the network topology, while verification of connectivity relies on notions of algebraic graph theory as well as gossip algorithms run over the network. Integration of the individual controllers results in an asynchronous networked control system for which we show that it satisfies the connectivity specification almost surely. We finally illustrate efficiency of our scalable approach in nontrivial computer simulations.

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2008-06-11
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Lab Papers (GRASP)
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2023-05-17T03:10:31.000
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Copyright 2008 IEEE. Reprinted from: Zavlanos, M.M.; Tahbaz-Salehi, A.; Jadbabaie, A.; Pappas, G.J., "Distributed topology control of dynamic networks," American Control Conference, 2008 , vol., no., pp.2660-2665, 11-13 June 2008 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4586894&isnumber=4586444 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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