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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…
The recent major developments in information technologies have opened interesting possibilities for the effective management of multi-agent systems. In many cases, the important role of central control nodes can now be undertaken by several…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
In this paper, the synchronization of heterogeneous agents interacting over a dynamical network is studied. The edge dynamics can model the inter-agent communications which are often heterogeneous by nature. They can also model the…
This work explores the large-scale multi-agent communication mechanism under a multi-agent reinforcement learning (MARL) setting. We summarize the general categories of topology for communication structures in MARL literature, which are…
This paper studies the controllability of networked relative coupling systems (NRCSs), in which subsystems are of fixed high-order linear dynamics and coupled through relative variables depending on their neighbors, from a structural…
This paper develops a control-theoretic framework for analyzing agentic systems embedded within feedback control loops, where an AI agent may adapt controller parameters, select among control strategies, invoke external tools, reconfigure…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
A design framework recently has been developed to stabilize interconnected multiagent systems in a distributed manner, and systematically capture the architectural aspect of cyber-physical systems. Such a control theoretic framework,…
As the scale of networked control systems increases and interactions between different subsystems become more sophisticated, questions of the resilience of such networks increase in importance. The need to redefine classical system and…
We present consensus analysis of systems with single integrator dynamics interacting via time-varying graphs under the event-triggered control paradigm. Event-triggered control sparsifies the control applied, thus reducing the control…
The controllability of a network is a theoretical problem of relevance in a variety of contexts ranging from financial markets to the brain. Until now, network controllability has been characterized only on isolated networks, while the vast…
This paper presents graph theoretic conditions for the controllability and accessibility of bilinear systems over the special orthogonal group, the special linear group and the general linear group, respectively, in the presence of drift…
This paper focuses on the multi-agent synchronization problem with an open-loop unstable leader and followers under the switching topologies. For this issue, the typical approach is intermittent communication (including a spanning tree…
This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and…
While multi-agent interactions can be naturally modeled as a graph, the environment has traditionally been considered as a black box. We propose to create a shared agent-entity graph, where agents and environmental entities form vertices,…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
This paper brings cooperative protocols for multi-agent systems with agents having a finite state-space. Both scalar single-integrator consensus and general LTI systems synchronization are considered. Systems having a finite state-space…
This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…