Related papers: Continuous-time consensus under persistent connect…
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 propose matrix-scaled consensus algorithms for linear dynamical agents interacting over an undirected network. Under the proposed algorithms, the state vectors of all agents to asymptotically agree up to some matrix…
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…
In artificial multi-agent systems, the ability to learn collaborative policies is predicated upon the agents' communication skills: they must be able to encode the information received from the environment and learn how to share it with…
In this technical note we address the problem of achieving consensus in a network of homogeneous nonlinear systems. The communication network is supposed to be switching within a finite set of topologies which may be disconnected for finite…
This paper focuses on analyzing the finite-time convergence of a nonlinear consensus algorithm for multi-agent networks with unknown inherent nonlinear dynamics. Due to the existence of the unknown inherent nonlinear dynamics, the stability…
This paper studies system stability and performance of multi-agent systems in the context of consensus problems over wireless multiple-access channels (MAC). We propose a consensus algorithm that exploits the broadcast property of the…
Exploring the collective behavior of interacting entities is of great interest and importance. Rather than focusing on static and uniform connections, we examine the co-evolution of diverse mobile agents experiencing varying interactions…
We consider how to connect a set of disjoint networks to optimize the performance of the resulting composite network. We quantify this performance by the coherence of the composite network, which is defined by an $H_2$ norm of the system.…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
The leader-following consensus problem for general linear multi-agent systems over jointly connected switching networks has been a challenging problem and the solvability of the problem has been limited to the class of linear multi-agent…
In this work, we study the consensus problem in which legitimate agents send their values over an undirected communication network in the presence of an unknown subset of malicious or faulty agents. In contrast to former works, we…
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…
The leader-following consensus of multiple linear time invariant (LTI) systems under switching topology is considered. The leader-following consensus problem consists of designing for each agent a distributed protocol to make all agents…
We study the performance of asymptotic and approximate consensus algorithms under harsh environmental conditions. The asymptotic consensus problem requires a set of agents to repeatedly set their outputs such that the outputs converge to a…
This paper addresses novel consensus problems in the presence of adversaries that can move within the network and induce faulty behaviors in the attacked agents. By adopting several mobile adversary models from the computer science…
In this technical note, we first clarify a technical issue in the convergence proof of a free-will arbitrary time (FwAT) consensus law proposed recently in Pal et al. IEEE Trans. Cybern. (2020)[1], making the results questionable. We then…
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has…
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,…