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Notes on averaging over acyclic digraphs and discrete coverage control
C. Gao, F. Bullo, J. Cortés, A. Jadbabaie
Proceedings of the 45th IEEE Int. Conf. Decision and Control, San Diego, California, USA, 2006, pp. 4651-4656

Abstract

In this paper, we show the relationship between two algorithms and optimization problems that are the subject of recent attention in the networking and control literature. First, we obtain some results on averaging algorithms over acyclic digraphs with fixed and controlled-switching topology. Second, we discuss continuous and discrete coverage control laws. Further, we show how discrete coverage control laws can be cast as averaging algorithms defined over an appropriate graph that we term the discrete Voronoi graph.

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