Related papers: Consensus Seeking in Multi-Agent Systems with Mult…
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 addresses novel consensus problems for multi-agent systems operating in an unreliable environment where adversaries are spreading. The dynamics of the adversarial spreading processes follows the susceptible-infected-recovered…
Motivated by the problem of tracking a direction in a decentralized way, we consider the general problem of cooperative learning in multi-agent systems with time-varying connectivity and intermittent measurements. We propose a distributed…
We study the problem of resilient average consensus in multi-agent systems where some of the agents are subject to failures or attacks. The objective of resilient average consensus is for non-faulty/normal agents to converge to the average…
We consider the problem of distributed average consensus in a sensor network where sensors exchange quantized information with their neighbors. We propose a novel quantization scheme that exploits the increasing correlation between the…
This paper considers a strongly connected network of agents, each capable of partially observing and controlling a discrete-time linear time-invariant (LTI) system that is jointly observable and controllable. Additionally, agents…
Multi agent consensus algorithms with update steps based on so-called balanced asymmetric chains, are analyzed. For such algorithms it is shown that (i) the set of accumulation points of states is finite, (ii) the asymptotic unconditional…
Aggregating signals from a collection of noisy sources is a fundamental problem in many domains including crowd-sourcing, multi-agent planning, sensor networks, signal processing, voting, ensemble learning, and federated learning. The core…
We introduce a distributed algorithm, termed noise-robust distributed maximum consensus (RD-MC), for estimating the maximum value within a multi-agent network in the presence of noisy communication links. Our approach entails redefining the…
In this note, we discuss the problem of consensus finding in communication networks of agents with dynamically switching topologies. In particular, we consider the case of directed networks with unbalanced matrices of communication rates.…
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…
This paper consider a standard consensus algorithm under output saturations. In the presence of output saturations, global consensus can not be realized due to the existence of stable, unachievable equilibrium points for the consensus.…
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…
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
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.…
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorithms remain centralized, requiring information exchange and…
In this paper we study the influence of additive noise in randomized consensus algorithms. Assuming that the update matrices are symmetric, we derive a closed form expression for the mean square error induced by the noise, together with…
General nonlinear continuous-time systems are considered for which its state is estimated via a packet-based communication network. We assume that the system has multiple sensor nodes, affected by measurement noise, which can transmit at…
We propose and analyze a framework for discrete-time robust mean-field control problems under common noise uncertainty. In this framework, the mean-field interaction describes the collective behavior of infinitely many cooperative agents'…
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…