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In this paper, we study the continuous-time consensus problem in the presence of adversaries. The networked multi-agent system is modeled as a switched system, where the normal agents have integrator dynamics and the switching signal…
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…
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 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…
The non-consensus problems of high order linear time-invariant dynamical homogeneous multi-agent systems are concerned. Based on the conditions of consensus achievement, the mechanisms that lead to non-consensus motions are analyzed.…
We study a simple but compelling model of $n$ interacting agents via time-dependent, unidirectional communication. The model finds wide application in a variety of fields including synchronization, swarming and distributed decision making.…
In this paper, we consider finite-time state agreement problems for continuous-time multi-agent systems and propose two protocols, which ensure that states of agents reach an agreement in a finite time. Moreover, the second protocol solves…
The constrained consensus problem considered in this paper, denoted interval consensus, is characterized by the fact that each agent can impose a lower and upper bound on the achievable consensus value. Such constraints can be encoded in…
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,…
Usually, opinion formation models assume that individuals have an opinion about a given topic which can change due to interactions with others. However, individuals can have different opinions in different topics and therefore n-dimensional…
In this paper we address the consensus problem in the context of networked agents whose communication graph can be split into a certain number of clusters in such a way that interactions between agents in the same clusters are cooperative,…
This paper focuses on the convergence of infor- mation in distributed systems of agents communicating over a network. The information on which the convergence is sought is not represented by real numbers, rather by sets of real numbers,…
A generic feature of bounded confidence type models is the formation of clusters of agents. We propose and study a variant of bounded confidence dynamics with the goal of inducing unconditional convergence to a consensus. The defining…
In this paper, we study finite-time state consensus problems for continuous nonlinear multi-agent systems. Building on the theory of finite-time Lyapunov stability, we propose sufficient criteria which guarantee the system to reach a…
Consensus of autonomous agents is a benchmark problem in multi-agent control. In this paper, we consider continuous-time averaging consensus policies (or Laplacian flows) and their discrete-time counterparts over time-varying graphs in…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
We prove that a first-order cooperative system of interacting agents converges to consensus if the so-called Persistence Excitation condition holds. This condition requires that the interaction function between any pair of agents satisfies…
A broad set of empirical phenomenon in the study of social, economic and machine behaviour can be modelled as complex systems with averaging dynamics. However many of these models naturally result in consensus or consensus-like outcomes. In…
This note studies a network of agents having continuous-time dynamics with quantized interactions and time-varying directed topology. Due to the discontinuity of the dynamics, solutions of the resulting ODE system are intended in the sense…
This paper presents a finite-time heterogeneous cyclic pursuit scheme that ensures consensus among agents modelled as integrators. It is shown that for the proposed sliding mode control, even when the gains corresponding to each agent are…