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∗
Department of Electrical Engineering, Yale University,
New Haven, CT 06520, U.S.A.
∗∗
Department of Information Engineering, Research School
of Information Sciences and Engineering, The Australian
National University, Canberra, ACT 0200, Australia
National ICT Australia Ltd., Locked Bag 8001, Canberra,
ACT 2601, Australia
3.2 System Equations and Underlying Directed A strongly connected directed graph is a directed
Graphs graph in which it is possible to reach any vertex
starting from any other vertex by traversing a
The update equations determined by (3) depend sequence of edges in the direction to which they
on the neighbor relationships which exist at time point. A weakly connected directed graph is a
tl . We define a directed graph with vertex set directed graph in which it is possible to reach any
{1, . . . , n} so that for j 6= i, (j, i) is a directed vertex starting from any other vertex by travers-
edge from vertex j to vertex i if and only if tl ∈ Ti ing edges in some direction (i.e. not necessarily in
and agent j is a neighbor of agent i at time tl . To the direction they point). A global source (often
account for the fact that agent i’s own heading simply called a source) in a directed graph is
information is always used in its heading update a vertex which can reach all other vertices by
rule, we also say that in the just defined directed traversing a sequence of edges in the direction
graph, there is always a directed edge from agent i to which they point. As we can see, a directed
to itself. At different event times, we have different graph having a source is weakly connected while
directed graphs just described because different the reverse is not always true.
agents update their headings spontaneously and
the set of neighbors of any agent, for example i, is Consider two directed graphs, Gp1 and Gp2 , each
not necessarily constant over agent i’s event times. with vertex set V. Let Gp2 ◦ Gp1 denote the
To account for this we will need to consider all composition of Gp1 and Gp2 , which is defined as
possible such graphs, which are obviously finite. the directed graph G with the vertex set V and
In the sequel we use the symbol P to denote the following property: there is a directed edge
a suitably defined set indexing the class of all from vertex i to j within G if and only if there
directed graphs Gp defined on n vertices. exists a vertex k ∈ V such that directed edges
ik and kj are within Gp1 and Gp2 respectively.
We can define the system state as In general, this operation on the graphs is not
x = [x1 , . . . , xn ]0 (4) commutative, i.e. Gp2 ◦ Gp1 6= Gp1 ◦ Gp2 . Across
a time interval [t, τ ) with t, τ ∈ T and τ > t, the
n agents under consideration are said to be linked
In order to write the system equations in state-
together if the composition of graphs, Gσ(τ −1) ◦
space form, for each p ∈ P, we define
· · ·◦Gσ(t+1) ◦Gσ(t) , encountered along the interval
Fp = (Dp )−1 Ap (5) has at least one source. Notice that if n agents are
linked together and there is only one source in the To prove Theorem 1, we need to introduce some
composition of the graphs, then all agents except related definitions and convergence results in ma-
the source agent must have updated at least once trix analysis.
across [t, τ ); if n agents are linked together and
As defined by (5), Fp is square and “non-negative”
there is more than one source in the composition
(a non-negative matrix is a matrix whose elements
of the graphs, then all n agents must have updated
are all non-negative) with the property that its
at least once across [t, τ ).
row sums all equal 1 (i.e. Fp 1 = 1). Such a matrix
is called stochastic (Horn and Johnson, 1985).
Fp has the additional property that its diagonal
4. MAIN RESULTS elements are all positive. For the case when p ∈ Q,
Fp is an example of “scrambling matrices” where
Reference (Jababaie et al., 2003) provides a by a scrambling matrix is meant any n-by-n, non-
convergence result by analyzing the product of negative matrix M with the property that for
the matrices associated with underlying graphs, arbitrary i and j with i, j ∈ {1, . . . , n}, i 6= j,
whose entries are all positive under the assump- there exists k ∈ {1, . . . , n} such that mik and mjk
tion that the corresponding underlying graphs are are both positive (Shen, 2000).
strongly connected. In the sequel, we will con-
sider a weaker condition for system (6) when its Lemma 2. Fp is a scrambling matrix when p ∈ Q.
composition of underlying graphs is only weakly
connected. So the bidirectional information flow
between any pair of agents is no longer guar- PROOF. Because vertex s is the source and
anteed. Consequently, some entries of the prod- there is an directed edge from s to each of
uct of the corresponding matrices might always the other vertices, we have (Fp )rs > 0, r ∈
be zero, and we cannot obtain the element-wise {1, 2, . . . , n} and r 6= s. From the fact that Fp has
positiveness that was achieved in (Jababaie et positive diagonal elements, we also have (Fp )ss >
al., 2003). Another distinction is that by consid- 0. Then for arbitrary i and j, i, j ∈ {1, . . . , n},
ering the composition of the directed graphs, we i 6= j, we always have (Fp )is > 0 and (Fp )js > 0,
take into account the time ordering information hence Fp is scrambling. 2
of the directed graphs, which is not considered in
(Jababaie et al., 2003). Now we will consider the convergence of the
product of scrambling matrices. First we point
out that the class of n-by-n stochastic matrices
4.1 Weakly Connected Graphs with positive diagonal elements is closed under
matrix multiplication. Second, we will re-phrase
We first consider a special case. Intuitively, the Proposition 27 and its proof in (Shen, 2000) as
flocking phenomenon is highly likely to happen if follows:
there is a particular agent whose heading infor-
mation is always available to all the other agents Lemma 3. (Proposition 27 in (Shen, 2000)) Let
during the evolution process. Now we will give a M = {Mi }, i = 1, 2, . . . be a compact set of
strict proof of convergence in this case. In the set scrambling stochastic matrices. Then for each
of directed graphs {Gp : p ∈ P}, we denote by infinite sequence Mi1 , Mi2 , . . . there exists a row
Q the subset of P with the property that there vector c such that
exists a vertex s common to all q ∈ Q such that lim Mij Mij−1 · · · Mi1 = 1c (8)
there is a directed edge from s to each of the other j→∞
vertices in Gq . Thus agent s is a neighbor of every
other agent at every event time. Our first result PROOF. We first point out the fact that for
establishes the convergence of x for the case when a given constant row vector b and any stochas-
σ takes values only in Q. tic matrix A, we have A(1b) = 1b because of
the fact that A1 = P 1. For any M ∈ M, de-
Theorem 1. Let x(t0 ) be fixed and let σ : T → P n
fine λ(M ) = mini,j k=1 min{mik , mjk }. Then
be a switching signal satisfying σ(t) ∈ Q for all λ(M ) > 0 because M is scrambling. Because M is
tl ∈ T , i.e. there exists a particular agent s that stochastic, λ(M ) ≤ 1 with λ(M ) = 1 if and only
is a neighbor of all other agents at all times tl ∈ T . if all the rows of matrix M are the same. Since M
Then is compact, we can define
lim x(t) = xss 1 (7) ∆
λ(M) = inf λ(M ) > 0
t→∞
M ∈M
where xss is a number depending only on x(t0 ) Denote the ith row of matrix M by m0i . Then
∆
and σ, 1 = [1 1 . . . 1]0n×1 . define
∆
diam∞ (M ) = max kmi − mj k∞ tik ∈ T , k > 0, such that across [ti0 , tik ) , there is
i,j a directed edge from vertex s to every other vertex
in the composition of the corresponding graphs.
where for a vector a = [a1 a2 . . . an ]0 , kak∞ =
maxi |ai |. Then Hajnal’s inequality (Shen, 2000)
says that for any stochastic matrices A1 and A2 , To prove this theorem, we need the following
we have diam∞ (A2 A1 ) ≤ (1 − λ(A2 ))diam∞ (A1 ), definition and results. We shall make use of the
hence standard partial ordering ≥ on n×n non-negative
matrices by writing B ≥ A whenever B − A is
diam∞ (Mij Mij−1 · · · Mi1 ) ≤ (1 − λ(M))j diam∞ (I) a non-negative matrix. For a non-negative ma-
trix R, we denote by dRe, the matrix obtained
where I is the n-by-n identity matrix. Because by replacing all of R’s non-zero entries with 1s.
0 < λ(M) ≤ 1, then as j → ∞, we have Notice that R is scrambling if and only if dRe is
diam∞ (Mij Mij−1 · · · Mi1 ) → 0, which implies scrambling. It is true that for any pair of n×n non-
that the element-wise difference between any negative matrices A and B with positive diagonal
pair of rows in the product Mij Mij−1 · · · Mi1 ap- elements, that dABe = ddAedBee, dABe ≥ dBe
proaches 0. Then (8) holds. 2 and dBAe ≥ dAe. The following lemma is Lemma
6 in (Jababaie et al., 2003).
Now we are in a position to prove Theorem 1. Lemma 5. (Lemma 6 in (Jababaie et al., 2003))
Let M1 , M2 , . . . , Mk be a finite sequence of n-by-n
Proof of Theorem 1: From (6), we have non-negative matrices whose diagonal entries are
all positive. Suppose that M is a matrix which
x(tj ) = Fσ(tj−1 ) · · · Fσ(t0 ) x(t0 ) occurs in the sequence at least m > 0 times. Then
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