Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels

• Main Author: Karlo Griparić
• Format: Article
• Language: English
• Published: MDPI AG 2021-07-01
• Series: Sensors
• Subjects: algebraic connectivity; distributed network; multiple communication channels; multi-agent systems; ad hoc communication
• Online Access: https://www.mdpi.com/1424-8220/21/15/5014

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.