This paper deals with the problem of distributed optimization of a multiagent system with network connectivity preservation. In order to realize cooperative interactions, a connected network is the prerequisite for high-quality information exchange among agents. However, sensing or communication capability is range-limited, so it is impractical to simply make an assumption that network connectivity is preserved by default. To address this concern, a class of generalized potentials including discontinuities caused by unexpected obstacles or noises are designed. For a class of quadratic cost functions, based on the potentials, a new distributed protocol is proposed to formally guarantee the network connectivity over time and to realize the state agreement in finite time while the sum of local functions known to individual agents is optimized. Since the right-hand side of the proposed protocol is discontinuous, some nonsmooth analysis tools are applied to analyze system performance. In some practical scenarios, where initial states are unavailable, a distributed protocol is further developed to realize the consensus in a prescribed finite time while solving the distributed optimization problem and maintaining network connectivity. Illustrative examples are provided to demonstrate the effectiveness of the proposed protocols.

中文翻译：

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保留网络连接性的Multiagent系统的分布式优化

本文讨论了具有网络连接保留的多代理系统的分布式优化问题。为了实现协作交互，连接的网络是代理之间进行高质量信息交换的前提。但是，感测或通信功能受到范围的限制，因此简单地假设默认情况下保留网络连接是不切实际的。为了解决这个问题，设计了一类广义电位，包括由意外障碍或噪音引起的不连续性。对于一类二次成本函数，基于潜力，提出了一种新的分布式协议，以正式保证随时间的网络连通性，并在有限的时间内实现状态协议，同时优化各个代理程序已知的局部功能之和。由于所提议协议的右侧是不连续的，因此一些不平滑的分析工具可用于分析系统性能。在某些初始状态不可用的实际情况下，将进一步开发分布式协议以在规定的有限时间内实现共识，同时解决分布式优化问题并保持网络连接性。提供了说明性示例以证明所提出协议的有效性。进一步开发了分布式协议，以在规定的有限时间内实现共识，同时解决了分布式优化问题并保持了网络连通性。提供了说明性示例以证明所提出协议的有效性。进一步开发了分布式协议，以在规定的有限时间内实现共识，同时解决了分布式优化问题并保持了网络连通性。提供了说明性示例以证明所提出协议的有效性。