Related papers: Output Average Consensus Over Heterogeneous Multi-…
When networked systems of autonomous agents carry out complex tasks, the control and coordination sought after generally depend on a few fundamental control primitives. Chief among these primitives is consensus, where agents are to converge…
The paper is devoted to the approximate consensus problem for networks of nonlinear agents with switching topology, noisy and delayed measurements. In contrast to the existing stochastic approximation-based control algorithms (protocols), a…
This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus…
In this paper, we consider an output consensus problem for a general class of nonlinear multi-agent systems without a prior knowledge of the agents' control directions. Two distributed Nussbaumtype control laws are proposed to solve the…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
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 work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to input constraints. The communication among agents is described by a time-varying…
This work addresses the output consensus problem of constrained heterogeneous multi-agent systems under a switching network with potential communication delays, where outputs are periodic and characterized by an exosystem. Since periodic…
The goal of this report is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only…
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…
Given a network of agents, we study the problem of designing a distributed algorithm that computes k independent weighted means of the network's initial conditions (namely, the agents agree on a k-dimensional space). Akin to average…
In this paper, we propose a new and systematic design framework for output consensus in heterogeneous Multi-Input Multi-Output (MIMO) general nonlinear Multi-Agent Systems (MASs) subjected to directed communication topology. First, the…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
In this paper, we focus on the distributed quantized average consensus problem in open multi-agent systems consisting of communication links that change dynamically over time. Open multi-agent systems exhibiting the aforementioned…
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has…
The consensus control with optimal cost remains major challenging although consensus control problems have been well studied in recent years. In this paper, we study the consensus control of multi-agent system associated with a given cost…
In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched…
This paper considers the problem of dynamic average consensus algorithm design for a group of communicating agents. This problem consists of designing a distributed algorithm that enables a group of agents with communication and computation…
Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously…
This paper proposes a double-layered framework (or form of network) to integrate two mechanisms, termed consensus and conservation, achieving distributed solution of a linear equation. The multi-agent framework considered in the paper is…