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This paper studies the robustness of a dynamic average consensus algorithm to communication delay over strongly connected and weight-balanced (SCWB) digraphs. Under delay-free communication, the algorithm of interest achieves a practical…
We propose a simple adaptive-network model describing recent swarming experiments. Exploiting an analogy with human decision making, we capture the dynamics of the model by a low-dimensional system of equations permitting analytical…
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…
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
This study deals with analysis and control of cooperative synchronization for identical agents interacting on a directed graph topology. The agents are considered to have general continuous linear time-invariant dynamics with homogeneous…
We study stability of interacting nonlinear systems with time-delayed communications, using contraction theory and a simplified wave variable design inspired by robotic teleoperation. We show that contraction is preserved through specific…
We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…
A leader-follower framework is proposed for multi-robot navigation of large scale teams where the leader agents corral the follower agents. A group of leaders is modeled as a 2D deformable object where discrete masses (i.e., leader robots)…
Social interaction increases significantly the performance of a wide range of cooperative systems. However, evidence that natural swarms limit the number of social connections suggests potentially detrimental consequences of excessive…
Controllability of complex networks has been the focal point of many recent studies in the field of complexity. These landmark advances shed a new light on the dynamics of natural and technological complex systems. Here, we analyze the…
This paper investigates online distributed aggregative games with time-varying cost functions, where agents are interconnected through an unbalanced communication graph. Due to the distributed and noncooperative nature of the game, some…
One of the most salient spatio-temporal patterns in population ecology is the synchronization of fluctuating local populations across vast spatial extent. Synchronization of abundance has been widely observed across a range of spatial…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
Swarm systems constitute a challenging problem for reinforcement learning (RL) as the algorithm needs to learn decentralized control policies that can cope with limited local sensing and communication abilities of the agents. While it is…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
We study a discrete-time consensus model in which agents iteratively update their states through interactions on a dynamic social network. At each step, a single agent is selected asynchronously and averages the values of its current…
Retardation between sensation and action is an inherent biological trait. Here we study its effect in the Vicsek model, which is a paradigmatic swarm model. We find that: (i) a discrete time delay in the orientational interactions…