Related papers: Consensusability of linear interconnected multi-ag…
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 chapter we look at one of the canonical driving examples for multi-agent systems: average consensus. In this scenario, a group of agents seek to agree on the average of their initial states. Depending on the particular application,…
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
We introduce the concept of community consensus in the presence of malicious agents using a well-known median-based consensus algorithm. We consider networks that have multiple well-connected regions that we term communities, characterized…
In this paper, we present the benefits of exploring different topologies with equal connectivity measure, or iso-connectivity topologies, in relation to the multiagent system dynamics. The level of global information sharing ability among…
In this technical note we address the problem of achieving consensus in a network of homogeneous nonlinear systems. The communication network is supposed to be switching within a finite set of topologies which may be disconnected for finite…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…
Guaranteed-cost consensus for high-order nonlinear multi-agent networks with switching topologies is investigated. By constructing a time-varying nonsingular matrix with a specific structure, the whole dynamics of multi-agent networks is…
This paper proposes the matrix-weighted consensus algorithm, which is a generalization of the consensus algorithm in the literature. Given a networked dynamical system where the interconnections between agents are weighted by nonnegative…
In this paper, we study a convergence condition for asynchronous consensus problems in multi-agent systems. The convergence in this context implies the asynchronous consensus value converges to the synchronous one and is unique. Although it…
This paper presents a consensus algorithm for a multi-agent system where each agent has access to its imperfect own state and neighboring state measurements. The measurements are subject to deterministic disturbances and the proposed…
Finding conditions ensuring consensus, i.e. convergence to a common value, for a networked system is of crucial interest, both for theoretical reasons and applications. This goal is harder to achieve when connections between agents are…
Mobile autonomous system (MAS) becomes pervasive especially in the vehicular and robotic networks. Multiple heterogeneous MAS networks can be integrated together as a multi-layer MAS network to offer holistic services. The network…
The paper presents a result which relates connectedness of the interaction graphs in a multi-agent systems with the capability for global convergence to a common equilibrium of the system. In particular we extend a previously known result…
This paper addresses the global consensus problems of a class of nonlinear multi-agent systems with Lipschitz nonlinearity and directed communication graphs, by using a distributed consensus protocol based on the relative states of…
This paper addresses the bipartite consensus-control problem in open multi-agent systems containing both cooperative and antagonistic interactions. In these systems, new agents can join and new interactions can be formed over time.…
There has been a growing interest in realizing the resilient consensus of the multi-agent system (MAS) under cyber-attacks, which aims to achieve the consensus of normal agents (i.e., agents without attacks) in a network, depending on the…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
Considering some predictive mechanisms, we show that ultrafast average-consensus can be achieved in networks of interconnected agents. More specifically, by predicting the dynamics of the network several steps ahead and using this…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…