Related papers: Fault Tolerant Leader Election in Distributed Syst…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
Single fault sequential change point problems have become important in modeling for various phenomena in large distributed systems, such as sensor networks. But such systems in many situations present multiple interacting faults. For…
This paper presents the formulation of fault detection and accommodation schemes for a network of autonomous agents running internal model-based dynamic average consensus algorithms. We focus on two types of consensus algorithms, one that…
This paper is concerned with the leader-following output consensus problem in the framework of distributed nonlinear observers. In stead of certain hypotheses on the leader system, a group of geometric conditions is put forward to develop a…
Fault-tolerant distributed systems offer high reliability because even if faults in their components occur, they do not exhibit erroneous behavior. Depending on the fault model adopted, hardware and software errors that do not result in a…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
This paper studies a variant of the \emph{leader election} problem under the \emph{stone age} model (Emek and Wattenhofer, PODC 2013) that considers a network of $n$ randomized finite automata with very weak communication capabilities (a…
This paper studies the consensus problem of heterogeneous multi-agent systems by the feedforward control and linear quadratic (LQ) optimal control theory. Different from the existing consensus control algorithms, which require to design an…
We study the problem of leader election among mobile agents operating in an arbitrary network modeled as an undirected graph. Nodes of the network are unlabeled and all agents are identical. Hence the only way to elect a leader among agents…
Wireless sensor networks (WSNs) suffers from the hot spot problem where the sensor nodes closest to the base station are need to relay more packet than the nodes farther away from the base station. Thus, lifetime of sensory network depends…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
In a leader-follower multi-agent system (MAS), the leader agents act as control inputs and influence the states of the remaining follower agents. The rate at which the follower agents converge to their desired states, as well as the errors…
We introduce Emergent Trust Learning (ETL), a lightweight, trust-based control algorithm that can be plugged into existing AI agents. It enables these to reach cooperation in competitive game environments under shared resources. Each agent…
A novel long-lived distributed problem, called Team Formation (TF), is introduced together with a message- and time-efficient randomized algorithm. The problem is defined over the asynchronous model with a complete communication graph,…
A companion paper defined the notion of digital social contracts, presented a design for a social-contracts programming language, and demonstrated its potential utility via example social contracts. The envisioned setup consists of people…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
This research paper investigates how machine learning-driven data replication strategies can enhance fault tolerance in large-scale distributed systems. Traditional replication methods, which rely on static configurations, often struggle to…
We address the Leader Election (LE) problem in networks of anonymous sensors sharing no kind of common coordinate system. Leader Election is a fundamental symmetry breaking problem in distributed computing. Its goal is to assign value 1…
This paper proposes a learning-based passive fault-tolerant control (PFTC) method for quadrotor capable of handling arbitrary single-rotor failures, including conditions ranging from fault-free to complete rotor failure, without requiring…