| In this work we focus on the system theoretic properties of networked dynamic systems and their applications in the setting of multi--agent coordination and control. We first review spacecraft formation flying and UAV conflict resolution as examples of networked systems. We then introduce the controlled Laplacian dynamics (or the agreement problem) as the basis for examining system-theoretic properties of networked dynamic systems, such as controllability and observability, from a graph-theoretic perspective. An edge variant of the agreement dynamics is then presented, and the ramification of such a setup in highlighting the role of network cycles in the Laplacian dynamics is discussed. Lastly, we discuss the observability problem over networks, as well as the distributed estimation of networked systems. In particular, we introduce an algorithm for global state estimate of distributed spacecraft using only local measurements. |
