Related papers: Exploiting nodes symmetries to control synchroniza…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
In this paper, the synchronization of heterogeneous agents interacting over a dynamical network is studied. The edge dynamics can model the inter-agent communications which are often heterogeneous by nature. They can also model the…
In this paper, we discuss distributed adaptive algorithms for synchronization of complex networks, consensus of multi-agents with or without pinning controller. The dynamics of individual node is governed by generalized QUAD condition. We…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
Network systems are one of the most active research areas in the engineering community as they feature a paradigm shift from centralized to distributed control and computation. When dealing with network systems, a fundamental challenge is…
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability and information privacy have become increasingly critical.…
This paper presents a consensus protocol that achieves max-consensus in multi-agent systems over wireless channels. Interference, a feature of the wireless channel, is exploited: each agent receives a superposition of broadcast data, rather…
Clustering mechanisms are essential in certain multiuser networks for achieving efficient resource utilization. This lecture note presents the theory of coalition formation as a useful tool for distributed clustering problems. We reveal the…
This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We…
This work introduces a systematic algorithm for generating directed networks with prescribed symmetries by constructing expansions from a given quotient network. The method enables researchers to synthesize realistic network models with…
Complex networks are the subject of fundamental interest from the scientific community at large. Several metrics have been introduced to characterize the structure of these networks, such as the degree distribution, degree correlation, path…
Controlling a complex network towards a desire state is of great importance in many applications. Existing works present an approximate algorithm to find the driver nodes used to control partial nodes of the network. However, the driver…
Synchrony patterns characterize network states in which nodes organize into clusters based on their synchronized dynamics. The synchronized clusters may further exhibit either active or inactive states. The simultaneous invariance of active…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
Imitation is widely observed in populations of decision-making agents. Using our recent convergence results for asynchronous imitation dynamics on networks, we consider how such networks can be efficiently driven to a desired equilibrium…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
Many real-world complex systems rely on cluster synchronization to function properly. A cluster of nodes exhibits synchronous behavior while others behave erratically. Predicting the emergence of these clusters and understanding the…
A network of chaotic systems can be designed in such a way that the cluster patterns formed by synchronous nodes can be controlled through the coupling parameters. We present a novel approach to exploit such a network for covert…
This paper studies system stability and performance of multi-agent systems in the context of consensus problems over wireless multiple-access channels (MAC). We propose a consensus algorithm that exploits the broadcast property of the…