Related papers: Distributed Consensus Resilient to Both Crash Fail…
This paper proposes a distributed event-triggered control method that not only guarantees consensus of multi-agent systems but also satisfies a given LQ performance constraint. Taking the standard distributed control scheme with all-time…
Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online…
Suppose that a set of $m$ tasks are to be shared as equally as possible amongst a set of $n$ resources. A game-theoretic mechanism to find a suitable allocation is to associate each task with a ``selfish agent'', and require each agent to…
This paper studies the consensus control problem faced with three essential demands, namely, discrete control updating for each agent, discrete-time communications among neighboring agents, and the fully distributed fashion of the…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
We consider the problem of multi-agent consensus where some agents are subject to faults/attacks and might make updates arbitrarily. The network consists of agents taking integer-valued (i.e., quantized) states under directed communication…
In distributed machine learning, where agents collaboratively learn from diverse private data sets, there is a fundamental tension between consensus and optimality. In this paper, we build on recent algorithmic progresses in distributed…
In this paper, the behavior of scalar multi-agent systems over networks subject to time-driven jumps. Assuming that all agents communicate through distinct communication digraphs at jump and flow times, the asymptotic multi-consensus…
We study internal stability in the context of diffusively-coupled control architectures, common in multi-agent systems (i.e. the celebrated consensus protocol), for linear time-invariant agents. We derive a condition under which the system…
In this paper, we consider the consensus problem of hybrid multi-agent system. First, the hybrid multi-agent system is proposed which is composed of continuous-time and discrete-time dynamic agents. Then, three kinds of consensus protocols…
Ensuring safety in autonomous multi-agent systems during time-critical tasks such as rendezvous is a fundamental challenge, particularly under communication delays and uncertainty in system parameters. In this paper, we develop a…
To achieve an optimal outcome in many situations, agents need to choose distinct actions from one another. This is the case notably in many resource allocation problems, where a single resource can only be used by one agent at a time. How…
This paper proposes a novel approach to design reduced-order distributed consensus controllers for multi-agent systems (MASs) with identical linear dynamics of agents. A new model namely edge dynamics representing the differences on agents'…
In this paper, we study the relationship between resilience and accuracy in the resilient distributed multi-dimensional consensus problem. We consider a network of agents, each of which has a state in $\mathbb{R}^d$. Some agents in the…
In this paper, we consider consensus problems over a network of nodes, where the network is divided into a number of clusters. We are interested in the case where the communication topology within each cluster is dense as compared to the…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
In this paper, we investigate the noncooperative games of multi-agent systems. Different from existing noncooperative games, our formulation involves the high-order nonlinear dynamics of players, and the communication topologies among…
This paper studies the problem of coordinating a group of $n$th-order integrator systems. As for the well-studied conventional consensus problem, we consider linear and distributed control with only local and relative measurements. We…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
We investigate the vulnerabilities of consensus-based distributed optimization protocols to nodes that deviate from the prescribed update rule (e.g., due to failures or adversarial attacks). We first characterize certain fundamental…