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The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorithms remain centralized, requiring information exchange and…
We consider the problem of average consensus in a distributed system comprising a set of nodes that can exchange information among themselves. We focus on a class of algorithms for solving such a problem whereby each node maintains a state…
Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the…
In this paper we introduce a novel consensus mech- anism where agents of a network are able to share logical values, or Booleans, representing their local opinions on e.g. the presence of an intruder or of a fire within an indoor…
In this note, we discuss the problem of consensus finding in communication networks of agents with dynamically switching topologies. In particular, we consider the case of directed networks with unbalanced matrices of communication rates.…
The aim of this paper is to analyze a class of consensus algorithms with finite-time or fixed-time convergence for dynamic networks formed by agents with first-order dynamics. In particular, in the analyzed class a single evaluation of a…
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…
In this paper we propose a novel consensus protocol for discrete-time multi-agent systems (MAS), which solves the dynamic consensus problem on the max value, i.e., the dynamic max-consensus problem. In the dynamic max-consensus problem to…
In this article we consider the problems of distributed detection and estimation in wireless sensor networks. In the first part, we provide a general framework aimed to show how an efficient design of a sensor network requires a joint…
Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is…
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…
Motivated by the needs of resiliency, scalability, and plug-and-play operation, distributed decision-making is becoming increasingly prevalent. The problem of achieving consensus in a multi-agent system is at the core of distributed…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
We study the average consensus problem of multi-agent systems for general network topologies with unidirectional information flow. We propose two (linear) distributed algorithms, deterministic and gossip, respectively for the cases where…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
In this paper we focus on the distributed quantized average consensus problem in open multi-agent systems consisting of dynamic directed communication links among active nodes. We propose three communication-efficient distributed algorithms…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
In this work, we consider the consensus problem in which legitimate agents share their values over an undirected communication network in the presence of malicious or faulty agents. Different from the previous works, we characterize the…
In this preliminary paper we study the stability property of a consensus on the average algorithm in arbitrary directed graphs with respect to communication/sensing time-delays. The proposed algorithm adds a storage variable to the agents'…
In this paper, we propose a novel distributed algorithm for consensus optimization over networks and a robust extension tailored to deal with asynchronous agents and packet losses. Indeed, to robustly achieve dynamic consensus on the…