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In this article, we investigate the asymptotic formation of consensus for several classes of time-dependent cooperative graphon dynamics. After motivating the use of this type of macroscopic models to describe multi-agent systems, we adapt…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…
We study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed random graphs, where…
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…
In this paper, we study consensus problem in multi-agent system with directed topology by event-triggered feedback control. That is, at each agent, the diffusion coupling feedbacks are based on the information from its latest observations…
This paper considers the problem of adaptively searching for an unknown target using multiple agents connected through a time-varying network topology. Agents are equipped with sensors capable of fast information processing, and we propose…
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…
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…
In this paper, the fast consensus problem of high-order multi-agent systems under undirected topologies is considered. The direct link between the consensus convergence rate and the control gains is established. An accelerated consensus…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
Classical approaches for asymptotic convergence to the global average in a distributed fashion typically assume timely and reliable exchange of information between neighboring components of a given multi-component system. These assumptions…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
The event-triggered consensus problem of first-order multi-agent systems under directed topology is investigated. The event judgements are only implemented at periodic time instants. Under the designed consensus algorithm, the sampling…
The aim of this paper is to analyze a class of consensus algorithms with finite-time or fixed-time convergence for dynamic networks formed by agents with first-order dynamics. In particular, in the analyzed class a single evaluation of a…
A new theorem on conditions for convergence to consensus of a multiagent time-dependent time-discrete dynamical system is presented. The theorem is build up on the notion of averaging maps. We compare this theorem to results by Moreau (IEEE…
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,…
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 introduces a novel continuous-time dynamic average consensus algorithm for networks whose interaction is described by a strongly connected and weight-balanced directed graph. The proposed distributed algorithm allows agents to…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…
A theorem on (partial) convergence to consensus of multiagent systems is presented. It is proven with tools studying the convergence properties of products of row stochastic matrices with positive diagonals which are infinite to the left.…