Related papers: Approximate Consensus Multi-Agent Control Under St…
In this paper, we present a dynamic median consensus protocol for multi-agent systems using acoustic communication. The motivating target scenario is a multi-agent system consisting of underwater robots acting as intelligent sensors,…
In this paper we propose a stochastic model predictive control (MPC) algorithm for linear discrete-time systems affected by possibly unbounded additive disturbances and subject to probabilistic constraints. Constraints are treated in…
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…
This paper investigates the distributed optimal output consensus problem of second-order uncertain nonlinear multi-agent systems over weight-unbalanced directed networks. Under the standard assumption that local cost functions are strongly…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
This paper addresses the problem of reaching consensus under input saturation and intermittent communication, which can hinder the convergence of the system. We propose a method that translates the consensus into an equivalent stability…
This paper addresses the one-bit consensus of controllable linear multi-agent systems (MASs) with communication noises. A consensus algorithm consisting of a communication protocol and a consensus controller is designed. The communication…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
This paper studies the distributed mode consensus problem in a multi-agent system, in which the agents each possess a certain attribute and they aim to agree upon the mode (the most frequent attribute owned by the agents) via distributed…
This paper presents continuous dynamic average consensus (DAC) algorithms for a group of agents to estimate the average of their time-varying reference signals cooperatively. We propose consensus algorithms that are robust to agents joining…
This paper considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights…
Consider the problem of minimizing the expected value of a (possibly nonconvex) cost function parameterized by a random (vector) variable, when the expectation cannot be computed accurately (e.g., because the statistics of the random…
In this paper, a stochastic algorithm for the efficient simulation and optimal control of networked wave equations based on the random batch method is proposed and analyzed. The random approximation is constructed by dividing the time…
We revisit the sample average approximation (SAA) approach for non-convex stochastic programming. We show that applying the SAA approach to problems with expected value equality constraints does not necessarily result in asymptotic…
Existing Nussbaum function based methods on the consensus of multi-agent systems require (partial) identical unknown control directions of all agents and cause dangerous dramatic control shocks. This paper develops a novel saturated…
We have recently proposed a "surplus-based" algorithm which solves the multi-agent average consensus problem on general strongly connected and static digraphs. The essence of that algorithm is to employ an additional variable to keep track…
We derive fundamental limitations on the performances of intrinsic averaging algorithms in open multi-agent systems, which are systems subject to random arrivals and departures of agents. Each agent holds a value, and their goal is to…
This paper focuses on consensus problems for high-order, linear multi-agent systems. Undirected communication topologies and fixed, uniform communication time delay are taken into account. This class of problems has been widely study in the…
This paper investigates an expected average error for distributed averaging problems under asynchronous updates. The asynchronism in this context implies no existence of a global clock as well as random characteristics in communication…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…