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Successfully anticipating sudden major changes in complex systems is a practical concern. Such complex systems often form a heterogeneous network, which may show multi-stage transitions in which some nodes experience a regime shift earlier than others as an environment gradually changes. Here we investigate early warning signals for networked systems undergoing a multi-stage transition. We found that knowledge of both the ongoing multi-stage transition and network structure enables us to calculate effective early warning signals for multi-stage transitions. Furthermore, we found that small subsets of nodes could anticipate transitions as well as or even better than using all the nodes. Even if we fix the network and dynamical system, no single best subset of nodes provides good early warning signals, and a good choice of sentinel nodes depends on the tipping direction and the current stage of the dynamics within a multi-stage transition, which we systematically characterize. 

Many complex dynamical systems in the real world, including ecological, climate, financial and power-grid systems, often show critical transitions, or tipping points, in which the system’s dynamics suddenly transit into a qualitatively different state. In mathematical models, tipping points happen as a control parameter gradually changes and crosses a certain threshold. Tipping elements in such systems may interact with each other as a network, and understanding the behaviour of interacting tipping elements is a challenge because of the high dimensionality originating from the network. Here, we develop a degree-based mean-field theory for a prototypical double-well system coupled on a network with the aim of understanding coupled tipping dynamics with a low-dimensional description. The method approximates both the onset of the tipping point and the position of equilibria with a reasonable accuracy. Based on the developed theory and numerical simulations, we also provide evidence for multistage tipping point transitions in networks of double-well systems.