title: Rigidity-Preserving Team Partitions in Multiagent Networks.
abstract: Motivated by the strong influence network rigidity has on collaborative systems, in this paper, we consider the problem of partitioning a multiagent network into two sub-teams, a bipartition, such that the resulting sub-teams are topologically rigid. In this direction, we determine the existence conditions for rigidity-preserving bipartitions, and provide an iterative algorithm that identifies such partitions in polynomial time. In particular, the relationship between rigid graph partitions and the previously identified Z-link edge structure is given, yielding a feasible direction for graph search. Adapting a supergraph search mechanism, we then detail a methodology for discerning graphs cuts that represent valid rigid bipartitions. Next, we extend our methods to a decentralized context by exploiting leader election and an improved graph search to evaluate feasible cuts using only local agent-to-agent communication. Finally, full algorithm details and pseudocode are provided, together with simulation results that verify correctness and demonstrate complexity.
authors.forename: Daniela
authors.initials: D
authors.lastname: Carboni
authors.forename: Ryan K
authors.initials: RK
authors.lastname: Williams
authors.forename: Andrea
authors.initials: A
authors.lastname: Gasparri
authors.forename: Giovanni
authors.initials: G
authors.lastname: Ulivi
authors.forename: Gaurav S
authors.initials: GS
authors.lastname: Sukhatme