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We consider how to connect a set of disjoint networks to optimize the performance of the resulting composite network. We quantify this performance by the coherence of the composite network, which is defined by an $H_2$ norm of the system.…
The problem of consensus in the presence of adversarially behaving agents has been studied extensively in the literature. The proposed algorithms typically guarantee that the consensus value lies within the convex hull of initial normal…
We are interested in assigning a pre-specified number of nodes as leaders in order to minimize the mean-square deviation from consensus in stochastically forced networks. This problem arises in several applications including control of…
We study the performance of a network of agents tasked with tracking an external unknown signal in the presence of stochastic disturbances and under the condition that only a limited subset of agents, known as leaders, can measure the…
Several algorithms in prior literature have been proposed which guarantee consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the…
Consensus formation is a complex process, particularly in networked groups. When individuals are incentivized to dig in and refuse to compromise, leaders may be essential to guiding the group to consensus. Specifically, the relative…
This paper examines resilient dynamic leader-follower consensus within multi-agent systems, where agents share first-order or second-order dynamics. The aim is to develop distributed protocols enabling nonfaulty/normal followers to…
We present a graph-theoretic approach to analyzing the robustness of leader-follower consensus dynamics to disturbances and time delays. Robustness to disturbances is captured via the system $\mathcal{H}_2$ and $\mathcal{H}_{\infty}$ norms…
In this paper, we consider a leader-following consensus problem for networks of continuous-time integrator agents with a time-varying leader under measurement noises. We propose a neighbor-based state-estimation protocol for every agent to…
The vast majority of real-world networks are scale-free, loopy, and sparse, with a power-law degree distribution and a constant average degree. In this paper, we study first-order consensus dynamics in binary scale-free networks, where…
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…
We investigate disagreement and polarization in a social network with two polarizing sources of information. First, we define disagreement and polarization indices in two-party leader-follower models of opinion dynamics. We then give…
Understanding what governs collective robustness and how it can be enhanced remains a central pursuit in network science. This paper investigates the robustness of multi-agent consensus networks, quantified by the $H_2$ performance metric,…
We study second order consensus dynamics with random additive disturbances. We investigate three different performance measures: the steady-state variance of pairwise differences between vertex states, the steady-state variance of the…
The paper considers the problem of a leader that seeks to optimally influence the opinions of agents in a directed network through connecting with a limited number of the agents ("direct followers"), possibly in the presence of a fixed…
Reconstructing the parameters that encode the influence between model variables based on time-series measurements represents an outstanding question in the theory of complex network-coupled systems. Here, we propose a solution to this…
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…
In this paper, we demonstrate a conflicting relationship between two crucial properties---controllability and robustness---in linear dynamical networks of diffusively coupled agents. In particular, for any given number of nodes $N$ and…
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 a localized data-driven consensus problem for leader-follower multi-agent systems with unknown discrete-time agent dynamics, where each follower computes its local control gain using only their locally collected state…