Related papers: Almost global consensus on the n-sphere
We consider the Riemannian random wave model of Gaussian linear combinations of Laplace eigenfunctions on a general compact Riemannian manifold. With probability one with respect to the Gaussian coefficients, we establish that, both for…
In this paper, we study finite-time state consensus problems for continuous nonlinear multi-agent systems. Building on the theory of finite-time Lyapunov stability, we propose sufficient criteria which guarantee the system to reach a…
We consider finite and infinite-dimensional first-order consensus systems with timeconstant interaction coefficients. For symmetric coefficients, convergence to consensus is classically established by proving, for instance, that the usual…
In this paper, we present a unified perspective on sphere consistent truncations based on the classical geometric properties of sphere bundles. The backbone of our approach is the global angular form for the sphere. A universal formula for…
This article deals with the conjugate gradient method on a Riemannian manifold with interest in global convergence analysis. The existing conjugate gradient algorithms on a manifold endowed with a vector transport need the assumption that…
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 study a distributed consensus problem on a complete communication network of $n$ vertices, each holding one of two opinions. The vertices communicate in rounds, possibly in the presence of adversarial noise, and exchange information…
This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multi-agent systems in a predefined…
This paper addresses the leader-following consensus problem for discrete-time positive multi-agent systems over time-varying graphs. We assume that the followers may have mutually different positive dynamics which can also be different from…
In this paper, we study the consensus problem of multiple agents on a kind of famous graph, Peterson graph. It is an undirected graph with 10 vertices and 15 edges. Each agent randomly walks on this graph and communicates with each other if…
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
We investigate a model for collective behaviour with intrinsic interactions on Riemannian manifolds. We establish the well-posedness of measure solutions (defined via mass transport) on sphere, as well as investigate the mean-field particle…
This note concerns the evolution of multi-agent systems on networks over Riemannian manifolds. The motion of each agent is governed by the gradient descent flow of a disagreement function that is a sum of (squared) distances between pairs…
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…
Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to convergence to the average of initial states, while directed…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
In this paper, finite-time state consensus problems for continuous-time multi-agent systems are discussed, and two distributive protocols, which ensure that the states of agents reach an agreement in a finite time, are presented. By…
In this paper we extend to non-compact Riemannian manifolds with boundary the use of two important tools in the geometric analysis of compact spaces, namely, the weak maximum principle for subharmonic functions and the integration by parts.…
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.…