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In many problems, agents cooperate locally so that a leader or fusion centercan infer the state of every agent from probing the state of only a smallnumber of agents. Versions of this problem arise when a fusion centerreconstructs an extended physical field by accessing the state of just a few ofthe sensors measuring the field, or a leader monitors the formation of a teamof robots. Given a link cost, the paper presents a polynomial time algorithm todesign a minimum cost coordinated network dynamics followed by the agents,under an observability constraint. The problem is placed in the context ofstructural observability and solved even when up to k agents in the coordinatednetwork dynamics fail.

Structurally Observable Distributed Networks of Agents under Cost and Robustness Constraints