Distributed design of a communication topology for efficient set-point following of self-organising agents

The paper considers the design of a communication topology for the efficient set-point following of multi-agent systems. The communication topology is set up sequentially during the design phase by each agent sending an information request to other agents which are answered with a fixed connection probability through establishing additional communication links. The stochastic behaviour of the resulting self-organising system is analysed in terms of the design parameters of the communication network proving that each agent acts only with a short delay to any set-point change of the reference system with high probability. A distributed design scheme is proposed which ensures to set up the communication topology within finite steps. The results are validated numerically by means of the positioning problem of mobile robots.