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227
Consensus and cooperation in networked multiagent systems
 Proceedings of the IEEE
, 2007
"... Summary. This paper provides a theoretical framework for analysis of consensus algorithms for multiagent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, timedelays, and performance guarantees. An ove ..."
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Cited by 807 (4 self)
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Summary. This paper provides a theoretical framework for analysis of consensus algorithms for multiagent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, timedelays, and performance guarantees. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory, algebraic graph theory, and control theory. We discuss the connections between consensus problems in networked dynamic systems and diverse applications including synchronization of coupled oscillators, flocking, formation control, fast consensus in smallworld networks, Markov processes and gossipbased algorithms, load balancing in networks, rendezvous in space, distributed sensor fusion in sensor networks, and belief propagation. We establish direct connections between spectral and structural properties of complex networks and the speed of information diffusion of consensus algorithms. A brief introduction is provided on networked systems with nonlocal information flow that are considerably faster than distributed systems with latticetype nearest neighbor interactions. Simulation results are presented that demonstrate the role of smallworld effects on the speed of consensus algorithms and cooperative control of multivehicle formations.
Consistency of spectral clustering
, 2004
"... Consistency is a key property of statistical algorithms, when the data is drawn from some underlying probability distribution. Surprisingly, despite decades of work, little is known about consistency of most clustering algorithms. In this paper we investigate consistency of a popular family of spe ..."
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Cited by 572 (15 self)
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Consistency is a key property of statistical algorithms, when the data is drawn from some underlying probability distribution. Surprisingly, despite decades of work, little is known about consistency of most clustering algorithms. In this paper we investigate consistency of a popular family of spectral clustering algorithms, which cluster the data with the help of eigenvectors of graph Laplacian matrices. We show that one of the two of major classes of spectral clustering (normalized clustering) converges under some very general conditions, while the other (unnormalized), is only consistent under strong additional assumptions, which, as we demonstrate, are not always satisfied in real data. We conclude that our analysis provides strong evidence for the superiority of normalized spectral clustering in practical applications. We believe that methods used in our analysis will provide a basis for future exploration of Laplacianbased methods in a statistical setting.
Complex networks: Structure and dynamics
, 2006
"... Coupled biological and chemical systems, neural networks, social interacting species, the Internet and the World Wide Web, are only a few examples of systems composed by a large number of highly interconnected dynamical units. The first approach to capture the global properties of such systems is t ..."
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Cited by 435 (12 self)
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Coupled biological and chemical systems, neural networks, social interacting species, the Internet and the World Wide Web, are only a few examples of systems composed by a large number of highly interconnected dynamical units. The first approach to capture the global properties of such systems is to model them as graphs whose nodes represent the dynamical units, and whose links stand for the interactions between them. On the one hand, scientists have to cope with structural issues, such as characterizing the topology of a complex wiring architecture, revealing the unifying principles that are at the basis of real networks, and developing models to mimic the growth of a network and reproduce its structural properties. On the other hand, many relevant questions arise when studying complex networks ’ dynamics, such as learning how a large ensemble of dynamical systems that interact through a complex wiring topology can behave collectively. We review the major concepts and results recently achieved in the study of the structure and dynamics of complex networks, and summarize the relevant applications of these ideas in many different disciplines,
A fast multilevel implementation of recursive spectral bisection for partitioning unstructured problems, in
 Proc. 6th SIAM Conf. Parallel Processing for Scientific Computing,
, 1993
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Statistical properties of community structure in large social and information networks
"... A large body of work has been devoted to identifying community structure in networks. A community is often though of as a set of nodes that has more connections between its members than to the remainder of the network. In this paper, we characterize as a function of size the statistical and structur ..."
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Cited by 246 (14 self)
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A large body of work has been devoted to identifying community structure in networks. A community is often though of as a set of nodes that has more connections between its members than to the remainder of the network. In this paper, we characterize as a function of size the statistical and structural properties of such sets of nodes. We define the network community profile plot, which characterizes the “best ” possible community—according to the conductance measure—over a wide range of size scales, and we study over 70 large sparse realworld networks taken from a wide range of application domains. Our results suggest a significantly more refined picture of community structure in large realworld networks than has been appreciated previously. Our most striking finding is that in nearly every network dataset we examined, we observe tight but almost trivial communities at very small scales, and at larger size scales, the best possible communities gradually “blend in ” with the rest of the network and thus become less “communitylike.” This behavior is not explained, even at a qualitative level, by any of the commonlyused network generation models. Moreover, this behavior is exactly the opposite of what one would expect based on experience with and intuition from expander graphs, from graphs that are wellembeddable in a lowdimensional structure, and from small social networks that have served as testbeds of community detection algorithms. We have found, however, that a generative model, in which new edges are added via an iterative “forest fire” burning process, is able to produce graphs exhibiting a network community structure similar to our observations.
Community structure in large networks: Natural cluster sizes and the absence of large welldefined clusters
, 2008
"... A large body of work has been devoted to defining and identifying clusters or communities in social and information networks, i.e., in graphs in which the nodes represent underlying social entities and the edges represent some sort of interaction between pairs of nodes. Most such research begins wit ..."
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Cited by 208 (17 self)
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A large body of work has been devoted to defining and identifying clusters or communities in social and information networks, i.e., in graphs in which the nodes represent underlying social entities and the edges represent some sort of interaction between pairs of nodes. Most such research begins with the premise that a community or a cluster should be thought of as a set of nodes that has more and/or better connections between its members than to the remainder of the network. In this paper, we explore from a novel perspective several questions related to identifying meaningful communities in large social and information networks, and we come to several striking conclusions. Rather than defining a procedure to extract sets of nodes from a graph and then attempt to interpret these sets as a “real ” communities, we employ approximation algorithms for the graph partitioning problem to characterize as a function of size the statistical and structural properties of partitions of graphs that could plausibly be interpreted as communities. In particular, we define the network community profile plot, which characterizes the “best ” possible community—according to the conductance measure—over a wide range of size scales. We study over 100 large realworld networks, ranging from traditional and online social networks, to technological and information networks and
Spectral partitioning works: planar graphs and finite element meshes, in:
 Proceedings of the 37th Annual Symposium on Foundations of Computer Science,
, 1996
"... Abstract Spectral partitioning methods use the Fiedler vectorthe eigenvector of the secondsmallest eigenvalue of the Laplacian matrixto find a small separator of a graph. These methods are important components of many scientific numerical algorithms and have been demonstrated by experiment to wo ..."
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Cited by 201 (10 self)
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Abstract Spectral partitioning methods use the Fiedler vectorthe eigenvector of the secondsmallest eigenvalue of the Laplacian matrixto find a small separator of a graph. These methods are important components of many scientific numerical algorithms and have been demonstrated by experiment to work extremely well. In this paper, we show that spectral partitioning methods work well on boundeddegree planar graphs and finite element meshesthe classes of graphs to which they are usually applied. While naive spectral bisection does not necessarily work, we prove that spectral partitioning techniques can be used to produce separators whose ratio of vertices removed to edges cut is O( √ n) for boundeddegree planar graphs and twodimensional meshes and O(n 1/d ) for wellshaped ddimensional meshes. The heart of our analysis is an upper bound on the secondsmallest eigenvalues of the Laplacian matrices of these graphs: we prove a bound of O(1/n) for boundeddegree planar graphs and O(1/n 2/d ) for wellshaped ddimensional meshes.
Emergent behavior in flocks
 IEEE Transactions on Automatic Control
, 2007
"... PRELIMINARY VERSION. As a motivating example we consider a population, say of birds or fish, whose members are moving in IR 3. It has been observed that under some initial conditions, for example on their positions and velocities, the state of the flock converges to one ..."
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Cited by 172 (3 self)
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PRELIMINARY VERSION. As a motivating example we consider a population, say of birds or fish, whose members are moving in IR 3. It has been observed that under some initial conditions, for example on their positions and velocities, the state of the flock converges to one
Some Applications of Laplace Eigenvalues of Graphs
 GRAPH SYMMETRY: ALGEBRAIC METHODS AND APPLICATIONS, VOLUME 497 OF NATO ASI SERIES C
, 1997
"... In the last decade important relations between Laplace eigenvalues and eigenvectors of graphs and several other graph parameters were discovered. In these notes we present some of these results and discuss their consequences. Attention is given to the partition and the isoperimetric properties of ..."
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Cited by 129 (0 self)
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In the last decade important relations between Laplace eigenvalues and eigenvectors of graphs and several other graph parameters were discovered. In these notes we present some of these results and discuss their consequences. Attention is given to the partition and the isoperimetric properties of graphs, the maxcut problem and its relation to semidefinite programming, rapid mixing of Markov chains, and to extensions of the results to infinite graphs.