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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 paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
In this paper, the communication effort required in a multi-agent system (MAS) is minimized via an explicit optimization formulation. The paper considers a MAS of single-integrator agents with bounded inputs and a time-invariant…
Multidimensional packing problems generalize the classical packing problems such as Bin Packing, Multiprocessor Scheduling by allowing the jobs to be $d$-dimensional vectors. While the approximability of the scalar problems is well…
Recent years have witnessed a growing interest in the topic of min-max optimization, owing to its relevance in the context of generative adversarial networks (GANs), robust control and optimization, and reinforcement learning. Motivated by…
The dynamics of an agreement protocol interacting with a disagreement process over a common random network is considered. The model can represent the spreading of true and false information over a communication network, the propagation of…
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent 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…
This paper proposes a Byzantine-resilient consensus framework that simultaneously pursues two tightly coupled objectives: actively identifying Byzantine agents and guaranteeing resilient consensus among normal agents. Unlike existing…
This paper studies the distributed multi-agent resilient optimization problem under the f-total Byzantine attacks. Compared with the previous work on Byzantineresilient multi-agent exact optimization problems, we do not require the…
Byzantine fault-tolerant (BFT) consensus algorithms are at the core of providing safety and liveness guarantees for distributed systems that must operate in the presence of arbitrary failures. Recently, numerous new BFT algorithms have been…
Iterative Approximate Byzantine Consensus (IABC) is a fundamental problem of fault-tolerant distributed computing where machines seek to achieve approximate consensus to arbitrary exactness in the presence of Byzantine failures. We present…
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…
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…
This paper presents continuous dynamic average consensus (DAC) algorithms for a group of agents to estimate the average of their time-varying reference signals cooperatively. We propose consensus algorithms that are robust to agents joining…
We study the problem of non-constrained, discrete-time, online distributed optimization in a multi-agent system where some of the agents do not follow the prescribed update rule either due to failures or malicious intentions. None of the…
This paper studies consensus of discrete-time multi-agent systems under time-varying directed communication, state and input constraints using a distributed multi-step model predictive control (MPC) framework. Consensus is recast as…
This paper studies the design of Byzantine consensus algorithms in an \textit{asynchronous }single-hop network equipped with the "abstract MAC layer" [DISC09], which captures core properties of modern wireless MAC protocols. Newport…
We consider the problem of achieving average consensus among multiple agents, where the inter-agent communication network is depicted by a graph. We consider the discrete-time consensus protocol where each agent updates its value as a…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…