Related papers: Tutorial on dynamic average consensus: the problem…
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…
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…
We propose a new dynamic average consensus algorithm that is robust to information-sharing noise arising from differential-privacy design. Not only is dynamic average consensus widely used in cooperative control and distributed tracking, it…
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…
This paper presents a novel distributed algorithm for tracking a maneuvering target using bearing or direction of arrival measurements collected by a networked sensor array. The proposed approach is built on the dynamic average-consensus…
This technical note studies the distributed average tracking problem for multiple time-varying signals with general linear dynamics, whose reference inputs are nonzero and not available to any agent in the network. In distributed fashion, a…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
This paper studies the problem of finding the median of N distinct numbers distributed across networked agents. Each agent updates its estimate for the median from noisy local observations of one of the N numbers and information from…
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 study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
Distributed averaging of agent initial conditions is a well-studied problem in context of networked systems where coordination amongst the agents is of paramount importance. The asymptotic nature of convergence of distributed averaging…
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Although this problem has been addressed in existing literature by linear schemes, only bounded…
Average consensus (AC) strategies play a key role in every system that employs cooperation by means of distributed computations. To promote consensus, an $N$-agent network can repeatedly combine certain node estimates until their mean value…
This technical note addresses the distributed fixed-time consensus protocol design problem for multi-agent systems with general linear dynamics over directed communication graphs. By using motion planning approaches, a class of distributed…
In this paper, we consider the consensus problem of dynamical multiple agents that communicate via a directed moving neighborhood random network. Each agent performs random walk on a weighted directed network. Agents interact with each…
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…
Average consensus plays a key role in distributed networks, with applications ranging from time synchronization, information fusion, load balancing, to decentralized control. Existing average consensus algorithms require individual agents…
This thesis is concerned with distributed control and coordination of networks consisting of multiple, potentially mobile, agents. This is motivated mainly by the emergence of large scale networks characterized by the lack of centralized…
Consider a network whose nodes have some initial values, and it is desired to design an algorithm that builds on neighbor to neighbor interactions with the ultimate goal of convergence to the average of all initial node values or to some…
A variety of problems in distributed control involve a networked system of autonomous agents cooperating to carry out some complex task in a decentralized fashion, e.g., orienting a flock of drones, or aggregating data from a network of…