Technical communique: A note on connectivity of multi-agent systems with proximity graphs and linear feedback protocol

Authors:
Zhendong Sun;Jie Huang
Affiliations:
Center for Control and Optimization, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China;Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong
Venue:
Automatica (Journal of IFAC)
Year:
2009

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Abstract

In this note, we investigate the possibility of simplifying the connectivity verification for multi-agent systems with proximity graphs and the linear feedback protocol. A Lyapunov-like approach is developed for analyzing the monotonicity of the largest edge length in the network. Based on this approach, we provide an initial-connectivity-based sufficient condition for dynamic connectivity. In particular, when each initial node degree is not less than three fourth of the graph order, initial network connectivity implies dynamic connectivity.