I am trying to generate the following figure using Tikz.
However, I am not able to replicate the arrows.
PS: So far, I have done the following:
\documentclass{article}
\usepackage{tikz}
\usetikzlibrary{shapes,arrows}
\usepackage{amsmath}
\tikzstyle{sensor}=[draw, fill=blue!20, text width=5em,
text centered, minimum height=2.5em]
\tikzstyle{plant} = [sensor, text width=2em, fill=blue!20,
minimum height=5em, rounded corners]
\tikzstyle{agent} = [sensor, text width=2em, fill=red!10,
minimum height=5em, rounded corners]
\tikzstyle{intercon} = [sensor, text width=2em, fill=green!20,
minimum height=20em, rounded corners]
\def\PtoI{3}
\def\AtoP{2}
\begin{tikzpicture}
\node (interconn) [intercon] {\rotatebox{270}{$\mu = M Y^d$}};
\path (interconn.80)+(-\PtoI,0) node (plant1) [plant] {$\Sigma^1$};
\path (interconn.-80)+(-\PtoI,0) node (plantn) [plant] {$\Sigma^N$};
\path (plant1.0)+(-\AtoP,0) node (agent1) [agent] {\rotatebox{270}{Agent 1}};
\path (plantn.0)+(-\AtoP,0) node (agentn) [agent] {\rotatebox{270}{Agent N}};
\path [draw, <-] (interconn.85) -- node [above] {$\nu$} (plant1.50);
\end{tikzpicture}
\end{document}