Robust design of sparse relative sensing networks

This paper considers the robust design of sparse relative sensing networks subject to a given H
_∞
-performance constraint. The topology design considers heterogenous agents over weighted graphs. We develop a robust counterpart to the uncertain optimization problem and formulate the sparsity constraint via a convex ℓ
₁
-relaxation. We also demonstrate how this relaxation can be used to embed additional performance criteria, such as the maximization of the algebraic connectivity of the relative sensing network.