Related papers: Consensus under Misaligned Orientations
Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…
This paper proposes the matrix-weighted consensus algorithm, which is a generalization of the consensus algorithm in the literature. Given a networked dynamical system where the interconnections between agents are weighted by nonnegative…
The design of sensor networks capable of reaching a consensus on a globally optimal decision test, without the need for a fusion center, is a problem that has received considerable attention in the last years. Many consensus algorithms have…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
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…
In this paper, we propose an approximate projected consensus algorithm for a network to cooperatively compute the intersection of convex sets. Instead of assuming the exact convex projection proposed in the literature, we allow each node to…
In this chapter we give an overview of the consensus-based global optimization algorithm and its recent variants. We recall the formulation and analytical results of the original model, then we discuss variants using component-wise…
Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or…
Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…
This paper fully studies distributed optimal consensus problem in non-directed dynamical networks. We consider a group of networked agents that are supposed to rendezvous at the optimal point of a collective convex objective function. Each…
We consider the problem of solving consensus using deterministic algorithms in a synchronous dynamic network with unreliable, directional point-to-point links, which are under the control of a message adversary. In contrast to a large body…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
This work interprets and generalizes consensus-type algorithms as switching dynamics leading to symmetrization of some vector variables with respect to the actions of a finite group. We show how the symmetrization framework we develop…
Advances in machine learning algorithms for sensor fusion have significantly improved the detection and prediction of other road users, thereby enhancing safety. However, even a small angular displacement in the sensor's placement can cause…
We analyze the convergence of decentralized consensus algorithm with delayed gradient information across the network. The nodes in the network privately hold parts of the objective function and collaboratively solve for the consensus…
This work addresses the problem of ensuring trustworthy computation in a linear consensus network. A solution to this problem is relevant for several tasks in multi-agent systems including motion coordination, clock synchronization, and…
This paper considers the multi-dimensional consensus in networked systems, where some of the agents might be misbehaving (or faulty). Despite the influence of these misbehaviors, the benign agents aim to reach an agreement while avoiding…
Average consensus algorithms can be implemented over wireless sensor networks (WSN), where global statistics can be computed using communications among sensor nodes locally. Simple execution, robustness to global topology changes due to…
Average consensus algorithms compute the global average of sensor data in a distributed fashion using local sensor nodes. Simple execution, decentralized philosophy make these algorithms suitable for WSN scenarios. Most of the researchers…