Bridge and interface gluing operations between multi-agent subsystems modify the Fiedler eigenvalue of the graph Laplacian, thereby altering consensus convergence rates.
On the eigenvalues of weighted directed graphs
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Effect of Graph Gluing on Consensus in Networked Multi-Agent Systems
Bridge and interface gluing operations between multi-agent subsystems modify the Fiedler eigenvalue of the graph Laplacian, thereby altering consensus convergence rates.