Related papers: Persistence based analysis of consensus protocols …
This paper presents new classes of consensus protocols with fixed-time convergence, which enable the definition of an upper bound for consensus state as a parameter of the consensus protocol, ensuring its independence from the initial…
This paper revisits the classical multi-agent average consensus problem for which many different event-triggered control strategies have been proposed over the last decade. Many of the earliest versions of these works conclude asymptotic…
Representation of a swarm of independent robotic agents under graph-theoretic constructs allows for more formal analysis of convergence properties. We consider the local and global convergence behavior of an N-member swarm of agents in a…
We study resilient leader-follower consensus of multi-agent systems (MASs) in the presence of adversarial agents, where agents' communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the…
The paper is devoted to the approximate consensus problem for networks of nonlinear agents with switching topology, noisy and delayed measurements. In contrast to the existing stochastic approximation-based control algorithms (protocols), a…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
We address the problem of determining if a discrete time switched consensus system converges for any switching sequence and that of determining if it converges for at least one switching sequence. For these two problems, we provide…
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…
In this work, we consider the consensus problem in which legitimate agents share their values over an undirected communication network in the presence of malicious or faulty agents. Different from the previous works, we characterize the…
A basic model of a dynamical distribution network is considered, modeled as a directed graph with storage variables corresponding to every vertex and flow inputs corresponding to every edge, subject to unknown but constant inflows and…
A solution is provided in this note for the adaptive consensus problem of nonlinear multi-agent systems with unknown and non-identical control directions assuming a strongly connected underlying graph topology. This is achieved with the…
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 presents a new method for achieving dynamic consensus in linear discrete-time homogeneous multi-agent systems (MAS) with marginally stable or unstable dynamics. The guarantee of consensus in this setting involves a set of…
In this paper we study dynamic averaging load balancing on general graphs. We consider infinite time and dynamic processes, where in every step new load items are assigned to randomly chosen nodes. A matching is chosen, and the load is…
In this work, we characterize a class of nonlinear monotone dynamical systems that have a certain translation invariance property which goes by the name of plus-homogeneity; usually called "topical" systems. Such systems need not be…
This paper addresses the global consensus problems of a class of nonlinear multi-agent systems with Lipschitz nonlinearity and directed communication graphs, by using a distributed consensus protocol based on the relative states of…
In this article, we present a finite time stopping criterion for consensus algorithms in networks with dynamic communication topology. Recent results provide asymptotic convergence to the consensus algorithm. However, the asymptotic…
Distributed decision making in multi-agent networks has recently attracted significant research attention thanks to its wide applicability, e.g. in the management and optimization of computer networks, power systems, robotic teams, sensor…
Interactive consistency is the problem in which n nodes, where up to t may be byzantine, each with its own private value, run an algorithm that allows all non-faulty nodes to infer the values of each other node. This problem is relevant to…
This work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to input constraints. The communication among agents is described by a time-varying…