A team-optimal linear controller and communication schedule for partially nested linear-quadratic multi-agent systems can be computed with Riccati-style recursions.
Communication and control co-design for networked control systems,
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Joint Communication-Control Strategy Optimization with Partially Nested Information Structures: The Linear-Quadratic Case
A team-optimal linear controller and communication schedule for partially nested linear-quadratic multi-agent systems can be computed with Riccati-style recursions.