Related papers: Localized high-order consensus destabilizes large-…
A general open problem in networking is: what are the fundamental limits to the performance that is achievable with some given amount of resources? More specifically, if each node in the network has information about only its $1$-hop…
This paper considers a distributed multi-agent optimization problem, with the global objective consisting of the sum of local objective functions of the agents. The agents solve the optimization problem using local computation and…
We extend a multi-agent convex-optimization algorithm named Newton-Raphson consensus to a network scenario that involves directed, asynchronous and lossy communications. We theoretically analyze the stability and performance of the…
This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed…
In this paper we investigate phenomena of spontaneous emergence or purposeful formation of highly organized structures in networks of related agents. We show that the formation of large organized structures requires exponentially large, in…
In this paper we present a decentralized algorithm to estimate the eigenvalues of the Laplacian matrix that encodes the network topology of a multi-agent system. We consider network topologies modeled by undirected graphs. The basic idea is…
This paper considers the problem of detecting impaired and noisy nodes over network. In a distributed algorithm, lots of processing units are incorporating and communicating with each other to reach a global goal. Due to each one's state in…
Part I of this paper considered optimization problems over networks where agents have individual objectives to meet, or individual parameter vectors to estimate, subject to subspace constraints that require the objectives across the network…
A local algorithm is a distributed algorithm that completes after a constant number of synchronous communication rounds. We present local approximation algorithms for the minimum dominating set problem and the maximum matching problem in…
This paper proposes a novel distributed event-triggered algorithmic solution to the multi-agent average consensus problem for networks whose communication topology is described by weight-balanced, strongly connected digraphs. The proposed…
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…
Is there an equilibrium for distributed consensus when all agents except one collude to steer the decision value towards their preference? If an equilibrium exists, then an $n-1$ size coalition cannot do better by deviating from the…
This paper aims to provide a new perspective on the interplay between decentralization -- a prevalent character of multi-agent systems -- and centralization, i.e., the task of imposing central control to meet system-level goals. In…
A distributed average consensus algorithm in which every sensor transmits with bounded peak power is proposed. In the presence of communication noise, it is shown that the nodes reach consensus asymptotically to a finite random variable…
Performance of standard processes over large distributed networks typically scales with the size of the network. For example, in planar topologies where nodes communicate with their natural neighbors, the scaling factor is $O(n)$, where $n$…
In this paper, we consider a multi-agent resilient consensus problem, where some of the nodes may behave maliciously. The approach is to equip all nodes with a scheme to detect neighboring nodes when they behave in an abnormal fashion. To…
In this paper, we address the distributed average consensus problem over directed networks in open multi-agent systems (OMAS), where the stability of the network is disrupted by frequent agent arrivals and departures, leading to a…
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…
Social norms can facilitate societal coexistence in groups by providing an implicitly shared set of expectations and behavioral guidelines. However, different social groups can hold different norms, and lacking an overarching normative…
Signed networks are graphs whose edges are labelled with either a positive or a negative sign, and can be used to capture nuances in interactions that are missed by their unsigned counterparts. The concept of balance in signed graph theory…