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  • P. Welz, J. Lunze:
    Efficient Set-Point Following of Self-Organising Agents over Random Communication Networks
    European Control Conference, Rotterdam, 2021 (accepted).

    Abstract:
    The paper addresses the problem of designing the best possible communication structure for an efficient set-point following of autonomous agents. It considers a communication network in which additional communication links appear with a fixed connection probability. Each agent should select the agent from its set of random neighbours that transmits the most useful information in terms of achieving its local control goal. The paper proposes a selection rule that the agents can apply based on their local information. A method to determine the expected performance of the resulting self-organising system in relation to the connection probability is elaborated, which shows that, due to the proposed selection rule, each agent in an arbitrary large networked system acts with a bounded delay to any set-point changes of the leader.