Hierarchical assembly of leader-asymmetric, single-leader networks
Waseem Abbas, Magnus Egerstedt · 2011
The connection between leader-asymmetry and controllability in controlled agreement networks provides a topological, necessary condition for controllability. In this paper we investigate how to produce hierarchical networks that, at each level in the hierarchy, exhibit the leader-asymmetry properties. Graph grammars are moreover provided for assembling the leader-asymmetric networks of any size.