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Article

Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels

Department of Engineering, University of Pula, Zagrebacka 30, 52100 Pula, Croatia
Academic Editors: Enzo Martinelli, Fausto Minelli and Luca Facconi
Sensors 2021, 21(15), 5014; https://doi.org/10.3390/s21155014
Received: 25 May 2021 / Revised: 18 July 2021 / Accepted: 21 July 2021 / Published: 23 July 2021
(This article belongs to the Collection Intelligent Wireless Networks)
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. View Full-Text
Keywords: algebraic connectivity; distributed network; multiple communication channels; multi-agent systems; ad hoc communication algebraic connectivity; distributed network; multiple communication channels; multi-agent systems; ad hoc communication
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MDPI and ACS Style

Griparić, K. Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels. Sensors 2021, 21, 5014. https://doi.org/10.3390/s21155014

AMA Style

Griparić K. Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels. Sensors. 2021; 21(15):5014. https://doi.org/10.3390/s21155014

Chicago/Turabian Style

Griparić, Karlo. 2021. "Algebraic Connectivity Control in Distributed Networks by Using Multiple Communication Channels" Sensors 21, no. 15: 5014. https://doi.org/10.3390/s21155014

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