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We consider cooperative multi-agent consensus optimization problems over both static and time-varying communication networks, where only local communications are allowed. The objective is to minimize the sum of agent-specific possibly…
A variety of problems in distributed control involve a networked system of autonomous agents cooperating to carry out some complex task in a decentralized fashion, e.g., orienting a flock of drones, or aggregating data from a network of…
Event-based state estimation can achieve estimation quality comparable to traditional time-triggered methods, but with a significantly lower number of samples. In networked estimation problems, this reduction in sampling instants does,…
We study the average consensus problem of multi-agent systems for general network topologies with unidirectional information flow. We propose two (linear) distributed algorithms, deterministic and gossip, respectively for the cases where…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
Consensusability is an important property for many multi-agent systems (MASs) as it implies the existence of networked controllers driving the states of MAS subsystems to the same value. Consensusability is of interest even when the MAS…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…
In this paper, we address the multiconsensus problem in networked systems, where agents are partitioned into disjoint subgroups and the states of agents within a subgroup are driven to consensus. Our objective is to present a distributed…
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.…
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of…
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
Distributed consensus with data rate constraint is an important research topic of multi-agent systems. Some results have been obtained for consensus of multi-agent systems with integrator dynamics, but it remains challenging for general…
In this paper, the communication effort required in a multi-agent system (MAS) is minimized via an explicit optimization formulation. The paper considers a MAS of single-integrator agents with bounded inputs and a time-invariant…
In this paper, we explore a multi-agent reinforcement learning approach to address the design problem of communication and control strategies for multi-agent cooperative transport. Typical end-to-end deep neural network policies may be…
This paper studies multi-agent systems with nonlinear consensus protocols, i.e., only nonlinear measurements of the states are available to agents. The solutions of these systems are understood in Filippov sense since the possible…
Distributed controllers are often necessary for a multi-agent system to satisfy safety properties such as collision avoidance. Communication and coordination are key requirements in the implementation of a distributed control protocol, but…
We study the problem of consensus emergence in multi-agent systems via external feedback controllers. We consider a set of agents interacting with dynamics given by a Cucker-Smale type of model, and study its consensus stabilization by…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…