In-Network Leader Selection for Acyclic Graphs

TL;DR

This paper introduces a novel in-network leader selection method for acyclic graphs in multi-agent systems, enabling agents to collaboratively select a leader minimizing deviation variance using only local communication.

Contribution

It formulates the in-network leader selection problem, links it to facility location problems, and develops a self-stabilizing algorithm for acyclic graphs.

Findings

The algorithm effectively minimizes deviation variance.

It operates in a fully distributed, self-stabilizing manner.

Applicable to vehicle formation, sensor networks, and synchronization.

Abstract

We study the problem of leader selection in leader-follower multi-agent systems that are subject to stochastic disturbances. This problem arises in applications such as vehicle formation control, distributed clock synchronization, and distributed localization in sensor networks. We pose a new leader selection problem called the in-network leader selection problem. Initially, an arbitrary node is selected to be a leader, and in all consequent steps the network must have exactly one leader. The agents must collaborate to find the leader that minimizes the variance of the deviation from the desired trajectory, and they must do so within the network using only communication between neighbors. To develop a solution for this problem, we first show a connection between the leader selection problem and a class of discrete facility location problems. We then leverage a previously proposed self-stabilizing facility location algorithm to develop a self-stabilizing in-network leader selection algorithm for acyclic graphs.