Related papers: Improving the consensus performance via predictive…
This paper studies the problem of finding the median of N distinct numbers distributed across networked agents. Each agent updates its estimate for the median from noisy local observations of one of the N numbers and information from…
The purpose of this short paper is to provide a theoretical analysis for the consensus problem under nonlinear protocols. A main contribution of this work is to generalize the previous consensus problems under nonlinear protocols for…
We consider a multi-agent system where agents aim to achieve a consensus despite interactions with malicious agents that communicate misleading information. Physical channels supporting communication in cyberphysical systems offer…
The design of sensor networks capable of reaching a consensus on a globally optimal decision test, without the need for a fusion center, is a problem that has received considerable attention in the last years. Many consensus algorithms have…
This work addresses the problem of ensuring trustworthy computation in a linear consensus network. A solution to this problem is relevant for several tasks in multi-agent systems including motion coordination, clock synchronization, and…
We study the problem of resilient average consensus in multi-agent systems where some of the agents are subject to failures or attacks. The objective of resilient average consensus is for non-faulty/normal agents to converge to the average…
We study the average consensus problem of multi-agent systems for general network topologies with unidirectional information flow. We propose two (linear) distributed algorithms, deterministic and gossip, respectively for the cases where…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. By defining the graph filter from the consensus protocol, we establish the direct relation between average consensus of multi-agent systems…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
In the intricate dance of multi-agent systems, achieving average consensus is not just vital--it is the backbone of their functionality. In conventional average consensus algorithms, all agents reach an agreement by individual calculations…
This work considers the problem of resilient consensus where stochastic values of trust between agents are available. Specifically, we derive a unified mathematical framework to characterize convergence, deviation of the consensus from the…
In this letter, we study the problem of accelerating reaching average consensus over connected graphs in a discrete-time communication setting. Literature has shown that consensus algorithms can be accelerated by increasing the graph…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
This paper considers the multi-dimensional consensus in networked systems, where some of the agents might be misbehaving (or faulty). Despite the influence of these misbehaviors, the benign agents aim to reach an agreement while avoiding…
In this paper, the fast consensus problem of high-order multi-agent systems under undirected topologies is considered. The direct link between the consensus convergence rate and the control gains is established. An accelerated consensus…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
We analyze stability of consensus algorithms in networks of multi-agents with time-varying topologies and delays. The topology and delays are modeled as induced by an adapted process and are rather general, including i.i.d.\ topology…
We establish average consensus on graphs with dynamic topologies prescribed by evolutionary games among strategic agents. Each agent possesses a private reward function and dynamically decides whether to create new links and/or whether to…
This paper presents distributed algorithmic solutions that employ opportunistic inter-agent communication to achieve dynamic average consensus. In our solutions each agent is endowed with a local criterion that enables it to determine…
Due to the wide application of average consensus algorithm, its security and privacy problems have attracted great attention. In this paper, we consider the system threatened by a set of unknown agents that are both "malicious" and…