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Adaptive Spanning-tree on Changing Topologies: Towards Emergent Behaviors in Autonomous Multi-Agent Systems

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3 Author(s)
Henri Aguesse ; Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA 02215, USA. ; Hua O. Wang ; Kazuo Tanaka

We propose a method to make a population of autonomous agents build and maintain a directed spanning tree architecture on a changing communication topology. Currently known algorithms can build a spanning tree in a distributed fashion in R times, where R is the radius of the spanning tree, provided the topology remains fixed during this time span. Our method removes this latter condition. To this end, we use a discrete wave equation on a grounded graph, prove a property of its eigenfunctions and exploit it. Our algorithm beats the Spanning Tree Protocol IEEE 802.1, the current standard for local area networks in terms of resilience to topology changes.

Published in:

2007 American Control Conference

Date of Conference:

9-13 July 2007