Related papers: Simple synchronization protocols for heterogeneous…
We consider large but finite systems of identical agents on the line with up to next nearest neighbor asymmetric coupling. Each agent is modelled by a linear second order differential equation, linearly coupled to up to four of its…
Originally, protocols were designed for multi-agent systems (MAS) using information about the network which might not be available. Recently, there has been a focus on scale-free synchronization where the protocol is designed without any…
Since reinforcement learning algorithms are notoriously data-intensive, the task of sampling observations from the environment is usually split across multiple agents. However, transferring these observations from the agents to a central…
Synchronization is an important behavior that characterizes many natural and human made systems composed by several interacting units. It can be found in a broad spectrum of applications, ranging from neuroscience to power-grids, to mention…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
There are three key factors of a system of coupled oscillators that characterize the interaction among them: coupling (how to affect), delay (when to affect) and topology (whom to affect). For each of them, the existing work has mainly…
Systems integration is a difficult matter particularly when its components are varied. The problem becomes even more difficult when such components are heterogeneous such as humans, robots and software systems. Currently, the humans are…
This article studies the synchronization problem of complex dynamical networks. The impulsive control method is considered with a novel event-triggered pinning algorithm. Sufficient conditions on the network topology are obtained to ensure…
Insights from the Complex Systems literature are employed to develop a computational model of truly endogenous strategic network formation. Artificial Adaptive Agents, implemented as Finite State Automata (FSA), play a modified two-player…
Efforts in this paper seek to combine graph theory with adaptive dynamic programming (ADP) as a reinforcement learning (RL) framework to determine forward-in-time, real-time, approximate optimal controllers for distributed multi-agent…
We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to conservative, congested equilibria.…
We consider the fundamental problem of clock synchronization in a synchronous multi-agent system. Each agent holds a clock with an arbitrary initial value, and clocks must eventually indicate the same value. Previous algorithms worked in…
In this technical note we address the problem of achieving consensus in a network of homogeneous nonlinear systems. The communication network is supposed to be switching within a finite set of topologies which may be disconnected for finite…
In this paper, we study scale-free state synchronization of discrete-time homogeneous multi-agent systems (MAS) subject to unknown, nonuniform, and arbitrarily large communication delays. The scale-free protocol utilizes localized…
In this article, we study algorithms for dynamic networks with asynchronous start, i.e., each node may start running the algorithm in a different round. Inactive nodes transmit only heartbeats, which contain no information but can be…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
In this paper, we propose several consensus protocols of the first and second order for networked multi-agent systems and provide explicit representations for their asymptotic states. These representations involve the eigenprojection of the…
In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…
We study resilient leader-follower consensus of multi-agent systems (MASs) in the presence of adversarial agents, where agents' communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the…