Related papers: Consensus over Weighted Directed Graphs: A Robustn…
The structural balance of a signed graph is known to be necessary and sufficient to obtain a bipartite consensus among agents with friend-foe relationships. In the real world, relationships are multifarious, and the coexistence of different…
In weighted graphs the shortest path between two nodes is often reached through an indirect path, out of all possible connections, leading to structural redundancies which play key roles in the dynamics and evolution of complex networks. We…
Distributed consensus has been intensively studied in recent years as a means to mitigate state differences among dynamic nodes on a graph. It has been successfully employed in various applications, e.g., formation control of multi-robots,…
In this paper we study the inverse eigenvector centrality problem on directed graphs: given a prescribed node centrality profile, we seek edge weights that realize it. Since this inverse problem generally admits infinitely many solutions,…
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…
Motivated by the needs of resiliency, scalability, and plug-and-play operation, distributed decision-making is becoming increasingly prevalent. The problem of achieving consensus in a multi-agent system is at the core of distributed…
We study dynamic networks under an undirected consensus communication protocol and with one state-dependent weighted edge. We assume that the aforementioned dynamic edge can take values over the whole real numbers, and that its behaviour…
We consider a consensus algorithm in which every node in a sequence of undirected, B-connected graphs assigns equal weight to each of its neighbors. Under the assumption that the degree of each node is fixed (except for times when the node…
We consider the problem of reaching consensus in communication networks that are modeled by directed graphs. We assume the existence of a message authentication mechanism (such as digital signatures) to verify the integrity of messages. We…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
We study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed random graphs, where…
This paper addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of…
We introduce the notion of balance for directed graphs: a weighted directed graph is $\alpha$-balanced if for every cut $S \subseteq V$, the total weight of edges going from $S$ to $V\setminus S$ is within factor $\alpha$ of the total…
This technical note addresses the distributed fixed-time consensus protocol design problem for multi-agent systems with general linear dynamics over directed communication graphs. By using motion planning approaches, a class of distributed…
Given a finite directed graph with $n$ vertices, we define a metric $d_G$ on $\mathbb{F}_q^n$, where $\mathbb{F}_q$ is the finite field with $q$ elements. The weight of a word is defined as the number of vertices that can be reached by a…
In this paper, we propose a perturbation framework to measure the robustness of graph properties. Although there are already perturbation methods proposed to tackle this problem, they are limited by the fact that the strength of the…
We consider the weight design problem for the consensus algorithm under a finite time horizon. We assume that the underlying network is random where the links fail at each iteration with certain probability and the link failures can be…
This paper studies the problem of designing networks that are strong structurally controllable, and robust simultaneously. For given network specifications, including the number of nodes $N$, the number of leaders $N_L$, and diameter $D$,…
We consider decentralized optimization problems where one aims to minimize a sum of convex smooth objective functions distributed between nodes in the network. The links in the network can change from time to time. For the setting when the…
We study the performance of discrete-time consensus protocols in the presence of additive noise. When the consensus dynamic corresponds to a reversible Markov chain, we give an exact expression for a weighted version of steady-state…