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