Related papers: On Robustness Analysis of a Dynamic Average Consen…
Previously we showed how delay communication between globally coupled self-propelled agents causes new spatio-temporal patterns to arise when the delay coupling is fixed among all agents \cite{Forgoston08}. In this paper, we show how…
Swarm and modular robotics are an emerging area in control of autonomous systems. However, coordinating a large group of interacting autonomous agents requires careful consideration of the logistical issues involved. In particular,…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
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…
In this paper, we investigate the problem of dual-rate consensus under transmission delays, where the control updates happen at a faster rate than the measurements being received. We assume that the measurements are delayed by a fixed delay…
In this paper a new distributed asynchronous algorithm is proposed for time synchronization in networks with random communication delays, measurement noise and communication dropouts. Three different types of the drift correction algorithm…
This paper is devoted to deterministic consensus in synchronous dynamic networks with unidirectional links, which are under the control of an omniscient message adversary. Motivated by unpredictable node/system initialization times and…
This paper is a comprehensive study of a long observed phenomenon of increase in the stability margin and so the rate of convergence of a class of linear systems due to time delay. We use Lambert W function to determine (a) in what systems…
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…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed to interact on a general directed topology. We propose an…
We investigate consensus dynamics on temporal hypergraphs that encode network systems with time-dependent, multi-way interactions. We compare this dynamics with that on appropriate projections of this higher-order network representation…
We consider a discrete-time model of continuous-time distributed optimization over dynamic directed-graphs (digraphs) with applications to distributed learning. Our optimization algorithm works over general strongly connected dynamic…
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 paper presents distributed algorithmic solutions that employ opportunistic inter-agent communication to achieve dynamic average consensus. In our solutions each agent is endowed with a local criterion that enables it to determine…
The paper investigates the distributed estimation problem under low bit rate communications. Based on the signal-comparison (SC) consensus protocol under binary-valued communications, a new consensus+innovations type distributed estimation…
Consensus is a most fundamental task in distributed computing. This paper studies the consensus problem for a set of processes connected by a dynamic directed network, in which computation and communication is lock-step synchronous but…
A consensus system is a linear multi-agent system in which agents communicate to reach a so-called consensus state, defined as the average of the initial states of the agents. Consider a more generalized situation in which each agent is…
In this note we give sufficient conditions for the convergence of the iterative algorithm called weighted-average consensus in directed graphs. We study the discrete-time form of this algorithm. We use standard techniques from matrix theory…
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…