Related papers: PI Consensus Error Transformation for Adaptive Coo…
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…
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has…
Group consensus implies reaching multiple groups where agents belonging to the same cluster reach state consensus. This paper focuses on linear multi-agent systems under nonnegative directed graphs. A new necessary and sufficient condition…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
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…
This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multi-agent systems in a predefined…
The paper is devoted to the approximate consensus problem for networks of nonlinear agents with switching topology, noisy and delayed measurements. In contrast to the existing stochastic approximation-based control algorithms (protocols), a…
The consensus control with optimal cost remains major challenging although consensus control problems have been well studied in recent years. In this paper, we study the consensus control of multi-agent system associated with a given cost…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
A generic feature of bounded confidence type models is the formation of clusters of agents. We propose and study a variant of bounded confidence dynamics with the goal of inducing unconditional convergence to a consensus. The defining…
We study continuous-time consensus dynamics for multi-agent systems with undirected switching interaction graphs. We establish a necessary and sufficient condition for exponential asymptotic consensus based on the classical theory of…
The paper proposes a distributed eventtriggered consensus approach for linear multi-agent systems with guarantees over rate of convergence, resilience to control gain uncertainties, and Pareto optimality of design parameters, namely, the…
This paper introduces a novel continuous-time dynamic average consensus algorithm for networks whose interaction is described by a strongly connected and weight-balanced directed graph. The proposed distributed algorithm allows agents to…
A theorem on (partial) convergence to consensus of multiagent systems is presented. It is proven with tools studying the convergence properties of products of row stochastic matrices with positive diagonals which are infinite to the left.…
This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of…
This paper proposes a decentralized design approach of consensus protocols of multi-agent systems via a directed-spanning-tree(DST)-based linear transformation and the corresponding minimal communication links. First, the consensus problem…
Uncertainty-aware prediction is essential for safe motion planning, especially when using learned models to forecast the behavior of surrounding agents. Conformal prediction is a statistical tool often used to produce uncertainty-aware…
Recently, a theory for stochastic optimal control in non-linear dynamical systems in continuous space-time has been developed (Kappen, 2005). We apply this theory to collaborative multi-agent systems. The agents evolve according to a given…