期刊
AUTOMATICA
卷 49, 期 4, 页码 1031-1036出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2013.01.029
关键词
Laplacian spectrum; Decentralized estimation; Multi-agent systems
资金
- European Union [257462 HYCON2]
- Italian grant FIRB Futuro in Ricerca [RBFR08QWUV]
- Region Sardinia under project SIAR [LR 7/2007, CRP-24709]
In this paper, we present a decentralized algorithm to estimate the eigenvalues of the Laplacian matrix that encodes the network topology of a multi-agent system. We consider network topologies modeled by undirected graphs. The basic idea is to provide a local interaction rule among agents so that their state trajectory is a linear combination of sinusoids oscillating only at frequencies function of the eigenvalues of the Laplacian matrix. In this way, the problem of decentralized estimation of the eigenvalues is mapped into a standard signal processing problem in which the unknowns are the finite number of frequencies at which the signal oscillates. (C) 2013 Elsevier Ltd. All rights reserved.
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