Related papers: Consensus over Weighted Directed Graphs: A Robustn…
This paper studies consensus problems for multi-agent systems defined on directed graphs where the consensus dynamics involves nonlinear and discontinuous functions. Sufficient conditions, involving the nonlinear functions and the topology…
We address discrete-time consensus on the Euclidean unit sphere. For this purpose we consider a distributed algorithm comprising the iterative projection of a conical combination of neighboring states. Neighborhoods are represented by a…
Motion planning is a fundamental problem of robotics with applications in many areas of computer science and beyond. Its restriction to graphs has been investigated in the literature for it allows to concentrate on the combinatorial problem…
We investigate how the graph topology influences the robustness to noise in undirected linear consensus networks. We measure the structural robustness by using the smallest possible value of steady state population variance of states under…
Switching between finitely many continuous-time autonomous steepest descent dynamics for convex functions is considered. Convergence of complete solutions to common minimizers of the convex functions, if such minimizers exist, is shown. The…
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…
This work addresses multi-agent consensus networks where adverse attackers affect the convergence performances of the protocol by manipulating the edge weights. We generalize (Fabris and Zelazo, 2022) and provide guarantees on the agents'…
A networked system can be made resilient against adversaries and attacks if the underlying network graph is structurally robust. For instance, to achieve distributed consensus in the presence of adversaries, the underlying network graph…
In recent years, the notion of r-robustness for the communication graph of the network has been introduced to address the challenge of achieving consensus in the presence of misbehaving agents. Higher r-robustness typically implies higher…
A cycle cover of a graph is a set of cycles such that every vertex is part of exactly one cycle. An L-cycle cover is a cycle cover in which the length of every cycle is in the set L. The weight of a cycle cover of an edge-weighted graph is…
Classical approaches for asymptotic convergence to the global average in a distributed fashion typically assume timely and reliable exchange of information between neighboring components of a given multi-component system. These assumptions…
In this paper, the question of expected time to convergence is addressed for unbiased quantized consensus on undirected connected graphs, and some strong results are obtained. The paper first provides a tight expression for the expected…
In some applications of matching, the structural or hierarchical properties of the two graphs being aligned must be maintained. The hierarchical properties are induced by the direction of the edges in the two directed graphs. These…
In this paper we study a discrete time consensus model on a connected graph with monotonically increasing peer-pressure and noise perturbed outputs masking a hidden state. We assume that each agent maintains a constant hidden state and a…
In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent…
A novel power consensus algorithm for DC microgrids is proposed and analyzed. DC microgrids are networks composed of DC sources, loads, and interconnecting lines. They are represented by differential-algebraic equations connected over an…
We study the problem of asymptotic consensus as it occurs in a wide range of applications in both man-made and natural systems. In particular, we study systems with directed communication graphs that may change over time. We recently…
This work considers the problem of resilient consensus where stochastic values of trust between agents are available. Specifically, we derive a unified mathematical framework to characterize convergence, deviation of the consensus from the…
In this paper we address the problem of computing a sparse subgraph of a weighted directed graph such that the exact distances from a designated source vertex to all other vertices are preserved under bounded weight increment. Finding a…
We study probabilistic protocols for concurrent threshold-based load balancing in networks. There are n resources or machines represented by nodes in an undirected graph and m >> n users that try to find an acceptable resource by moving…