Related papers: Randomized Optimal Consensus of Multi-agent System…
In this paper, an optimal consensus problem with local inequality constraints is studied for a network of single-integrator agents. The goal is that a group of single-integrator a gents rendezvous at the optimal point of the sum of local…
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…
The consensus control with optimal cost remains major challenging although consensus control problems have been well studied in recent years. In this paper, we study the consensus control of multi-agent system associated with a given cost…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
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…
We study the consensus formation for an agents based model, generalizing that originally proposed by Krause \cite{Kr}, by allowing the communication channels between any couple of agents to be switched on or off randomly, at each time step,…
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…
A variety of problems in distributed control involve a networked system of autonomous agents cooperating to carry out some complex task in a decentralized fashion, e.g., orienting a flock of drones, or aggregating data from a network of…
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 addresses the consensus problem of first-order continuous-time multi-agent systems over undirected graphs. Each agent samples relative state measurements in a self-triggered fashion and transmits the sum of the measurements to…
This article considers consensus problem of multiagent systems with double integrator dynamics under nonuniform sampling. It is considered the maximum sampling time can be selected arbitrarily. Moreover, the communication graph can change…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
In this paper, we consider the consensus problem of dynamical multiple agents that communicate via a directed moving neighborhood random network. Each agent performs random walk on a weighted directed network. Agents interact with each…
Recently, a theory for stochastic optimal control in non-linear dynamical systems in continuous space-time has been developed (Kappen, 2005). We apply this theory to collaborative multi-agent systems. The agents evolve according to a given…
For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios. Adopting the standard least-squares approach, in this work we derive both the (centralized) analytic…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
We present two main theorems along the lines of Lyapunov's second method that guarantee asymptotic state consensus in multi-agent systems of agents in R^m with switching interconnection topologies. The two theorems complement each other in…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…