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We derive fundamental performance limitations for intrinsic average consensus problems in open multi-agent systems, which are systems subject to frequent arrivals and departures of agents. Each agent holds a value, and the objective of the…
There has been substantial work studying consensus problems for which there is a single common final state, although there are many real-world complex networks for which the complete consensus may be undesirable. More recently, the concept…
This note studies resilient coordination of networked multiagent systems in the presence of misbehaving agents, i.e., agents that are subject to adversaries modeled as exogenous disturbances. Apart from the existing relevant literature that…
In this paper, we consider an output consensus problem for a general class of nonlinear multi-agent systems without a prior knowledge of the agents' control directions. Two distributed Nussbaumtype control laws are proposed to solve the…
In this work and the supporting Parts II [2] and III [3], we provide a rather detailed analysis of the stability and performance of asynchronous strategies for solving distributed optimization and adaptation problems over networks. We…
This paper studies the operation of multi-agent networks engaged in multi-task decision problems under the paradigm of simultaneous learning and adaptation. Two scenarios are considered: one in which a decision must be taken among multiple…
We introduce a framework for reaching a consensus amongst several agents communicating via a trust network on conflicting information about their environment. We formalise our approach and provide an empirical and theoretical analysis of…
In this paper, we consider the output synchronization problem for a network of heterogeneous diffusively-coupled nonlinear agents. Specifically, we show how the (non-identical) agents can be controlled in such a way that their outputs…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…
This paper presents a novel approach for resilient distributed consensus in multiagent networks when dealing with adversarial agents imprecision in states observed by normal agents. Traditional resilient distributed consensus algorithms…
This paper is concerned with the study of synchronization and consensus phenomena in complex networks of diffusively-coupled nodes subject to external disturbances. Specifically, we make use of stochastic Lyapunov functions to provide…
In this paper, the consensus problems of the continuous-time integrator systems under noisy measurements are considered. The measurement noises, which appear when agents measure their neighbors' states, are modeled to be multiplicative. By…
This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics. Two distributed adaptive dynamic consensus protocols are proposed, based on the relative output information of…
This work studies the operation of multi-agent networks engaged in binary decision tasks, and derives performance expressions and performance operating curves under challenging conditions with some revealing insights. One of the main…
This paper studies the Byzantine Agreement problem where the nodes have access to a predictor that flags nodes for suspicion of faulty (Byzantine) behavior. We focus on algorithmic resilience -- the maximum number of faulty nodes an…
We study the problem of asymptotic consensus as it occurs in a wide range of applications in both man-made and natural systems. In particular, we study systems with directed communication graphs that may change over time. We recently…
This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…
This paper studies two important signal processing aspects of equilibrium behavior in non-cooperative games arising in social networks, namely, reinforcement learning and detection of equilibrium play. The first part of the paper presents a…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
In this chapter we look at one of the canonical driving examples for multi-agent systems: average consensus. In this scenario, a group of agents seek to agree on the average of their initial states. Depending on the particular application,…