{"id":"https://openalex.org/W2129579944","doi":"https://doi.org/10.1109/tac.2014.2303236","title":"Minimizing Convergence Error in Multi-Agent Systems Via Leader Selection: A Supermodular Optimization Approach","display_name":"Minimizing Convergence Error in Multi-Agent Systems Via Leader Selection: A Supermodular Optimization Approach","publication_year":2014,"publication_date":"2014-05-21","ids":{"openalex":"https://openalex.org/W2129579944","doi":"https://doi.org/10.1109/tac.2014.2303236","mag":"2129579944"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2014.2303236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2303236","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004774385","display_name":"Andrew Clark","orcid":"https://orcid.org/0000-0002-5868-6186"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Clark","raw_affiliation_strings":["Network Security Lab, Department of Electrical Engineering, University of Washington, Seattle, WA, USA","Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Network Security Lab, Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA#TAB#","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019524943","display_name":"Basel Alomair","orcid":"https://orcid.org/0000-0002-0494-2586"},"institutions":[{"id":"https://openalex.org/I1284598098","display_name":"King Abdulaziz City for Science and Technology","ror":"https://ror.org/05tdz6m39","country_code":"SA","type":"facility","lineage":["https://openalex.org/I1284598098"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["SA","US"],"is_corresponding":false,"raw_author_name":"Basel Alomair","raw_affiliation_strings":["Network Security Lab, Department of Electrical Engineering, University of Washington, Seattle, WA, USA","[Center for Cybersecurity, King Abdulaziz City for Science and Technology, Riyadh, Saudi Arabia]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Network Security Lab, Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"[Center for Cybersecurity, King Abdulaziz City for Science and Technology, Riyadh, Saudi Arabia]","institution_ids":["https://openalex.org/I1284598098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003489427","display_name":"Linda Bushnell","orcid":"https://orcid.org/0000-0002-8751-2409"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I4210138199","display_name":"University of Washington Applied Physics Laboratory","ror":"https://ror.org/03d17d270","country_code":"US","type":"facility","lineage":["https://openalex.org/I201448701","https://openalex.org/I4210138199"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Linda Bushnell","raw_affiliation_strings":["Networked Control Systems Lab, Department of Electrical Engineering, University of Washington, Seattle, WA, USA","Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Networked Control Systems Lab, Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I4210138199"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA#TAB#","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079723268","display_name":"Radha Poovendran","orcid":"https://orcid.org/0000-0003-0269-8097"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Radha Poovendran","raw_affiliation_strings":["Network Security Lab, Department of Electrical Engineering, University of Washington, Seattle, WA, USA","Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Network Security Lab, Department of Electrical Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Univ. of Washington, Seattle, WA, USA#TAB#","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":17.2747,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.99335119,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"59","issue":"6","first_page":"1480","last_page":"1494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10796","display_name":"Cooperative Communication and Network Coding","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6952838897705078},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5799501538276672},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4868435263633728},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4818457365036011},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.47435200214385986},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4619612395763397},{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.4508780837059021},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44050663709640503},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4243733286857605},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.42383408546447754},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41928011178970337},{"id":"https://openalex.org/keywords/rate-of-convergence","display_name":"Rate of convergence","score":0.41602373123168945},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32609790563583374},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.30771708488464355},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10663461685180664}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6952838897705078},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5799501538276672},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4868435263633728},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4818457365036011},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.47435200214385986},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4619612395763397},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.4508780837059021},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44050663709640503},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4243733286857605},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.42383408546447754},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41928011178970337},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.41602373123168945},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32609790563583374},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.30771708488464355},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10663461685180664},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tac.2014.2303236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2303236","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.728.1531","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.728.1531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ee.washington.edu/research/nsl/papers/TAC-June-14.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.765.487","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.765.487","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arxiv.org/pdf/1306.4949.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322997","display_name":"King Abdulaziz City for Science and Technology","ror":"https://ror.org/05tdz6m39"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1509185796","https://openalex.org/W1538688592","https://openalex.org/W1570963478","https://openalex.org/W1576820654","https://openalex.org/W1815679115","https://openalex.org/W1963649370","https://openalex.org/W1966415263","https://openalex.org/W1966790627","https://openalex.org/W1968160731","https://openalex.org/W1968817778","https://openalex.org/W1988790447","https://openalex.org/W1998692453","https://openalex.org/W2005085382","https://openalex.org/W2012812921","https://openalex.org/W2018800107","https://openalex.org/W2019312235","https://openalex.org/W2024995587","https://openalex.org/W2052317337","https://openalex.org/W2053694592","https://openalex.org/W2061820396","https://openalex.org/W2101420429","https://openalex.org/W2105850748","https://openalex.org/W2114403255","https://openalex.org/W2117905067","https://openalex.org/W2121671791","https://openalex.org/W2122787820","https://openalex.org/W2123876595","https://openalex.org/W2126826802","https://openalex.org/W2129579944","https://openalex.org/W2133754447","https://openalex.org/W2138624490","https://openalex.org/W2139499282","https://openalex.org/W2145291156","https://openalex.org/W2147539438","https://openalex.org/W2150135842","https://openalex.org/W2152170081","https://openalex.org/W2158191982","https://openalex.org/W2165744313","https://openalex.org/W2167598199","https://openalex.org/W2172813797","https://openalex.org/W2294338176","https://openalex.org/W2798566347","https://openalex.org/W2912391240","https://openalex.org/W2950251057","https://openalex.org/W2952627669","https://openalex.org/W2963892017","https://openalex.org/W3099523636","https://openalex.org/W4231542018","https://openalex.org/W4236191235","https://openalex.org/W4248437541","https://openalex.org/W4250134109","https://openalex.org/W6638511070","https://openalex.org/W6642387091","https://openalex.org/W6651378419","https://openalex.org/W6679191279","https://openalex.org/W6682089242","https://openalex.org/W6682417862","https://openalex.org/W6785777652"],"related_works":["https://openalex.org/W2092179621","https://openalex.org/W2104446157","https://openalex.org/W4248010142","https://openalex.org/W2130341600","https://openalex.org/W2162982837","https://openalex.org/W2510451964","https://openalex.org/W4306672120","https://openalex.org/W2080841604","https://openalex.org/W4383428431","https://openalex.org/W2152241334"],"abstract_inverted_index":{"In":[0,55],"a":[1,77,99,121,169,197,252],"leader-follower":[2],"multi-agent":[3],"system":[4],"(MAS),":[5],"the":[6,15,18,26,37,40,50,70,80,83,89,93,106,112,124,138,160,165,179,185,189,201,209],"leader":[7,53,60,94,125,140,156,173,193,248],"agents":[8,28,174,194],"act":[9],"as":[10,34,36,76,120,182,184],"control":[11],"inputs":[12],"and":[13,88,146,224,229,246],"influence":[14],"states":[16,43,87],"of":[17,52,79,92,123,130,167,172,187,192],"remaining":[19],"follower":[20,27,41,71,84],"agents.":[21,54],"The":[22],"rate":[23],"at":[24],"which":[25,73],"converge":[29],"to":[30,45,64,102,177,195,212,237],"their":[31],"desired":[32],"states,":[33],"well":[35,183],"errors":[38,67,242],"in":[39,62,175,215,251],"agent":[42,95],"prior":[44],"convergence,":[46],"are":[47],"determined":[48],"by":[49,69],"choice":[51],"this":[56],"paper,":[57],"we":[58,74,109],"study":[59],"selection":[61,157,249],"order":[63,176],"minimize":[65,178],"convergence":[66,113,180,202,241],"experienced":[68],"agents,":[72],"define":[75],"norm":[78],"distance":[81],"between":[82],"agents'":[85],"intermediate":[86],"convex":[90],"hull":[91],"states.":[96],"By":[97],"introducing":[98],"novel":[100],"connection":[101],"random":[103,245],"walks":[104],"on":[105,150,200],"network":[107],"graph,":[108],"show":[110],"that":[111,135],"error":[114],"has":[115],"an":[116],"inherent":[117],"supermodular":[118,161],"structure":[119],"function":[122],"set.":[126],"Supermodularity":[127],"enables":[128],"development":[129],"efficient":[131],"discrete":[132],"optimization":[133,162],"algorithms":[134,206],"directly":[136],"approximate":[137],"optimal":[139,210],"set,":[141],"provide":[142,238],"provable":[143],"performance":[144],"guarantees,":[145],"do":[147],"not":[148],"rely":[149],"continuous":[151],"relaxations.":[152],"We":[153,204],"formulate":[154],"two":[155],"problems":[158,214],"within":[159],"framework,":[163],"namely,":[164],"problem":[166,186],"selecting":[168,188],"fixed":[170],"number":[171],"error,":[181],"minimum-size":[190],"set":[191],"achieve":[196],"given":[198],"bound":[199],"error.":[203],"introduce":[205],"for":[207],"approximating":[208],"solution":[211],"both":[213],"static":[216],"networks,":[217],"dynamic":[218,225],"networks":[219,226],"with":[220,227],"known":[221],"topology":[222,231],"distributions,":[223],"unknown":[228],"unpredictable":[230],"distributions.":[232],"Our":[233],"approach":[234],"is":[235],"shown":[236],"significantly":[239],"lower":[240],"than":[243],"existing":[244],"degree-based":[247],"methods":[250],"numerical":[253],"study.":[254]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":18},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}