Related papers: Fundamental Performance Limitations for Average Co…
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…
In this technical note, we investigate an optimal output consensus problem for heterogeneous uncertain nonlinear multi-agent systems. The considered agents are described by high-order nonlinear dynamics subject to both static and dynamic…
In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent…
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…
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…
We formalize AI alignment as a multi-objective optimization problem called $\langle M,N,\varepsilon,\delta\rangle$-agreement, in which a set of $N$ agents (including humans) must reach approximate ($\varepsilon$) agreement across $M$…
This paper studies mean field games for multi-agent systems with control-dependent multiplicative noises. For the general systems with nonuniform agents, we obtain a set of decentralized strategies by solving an auxiliary limiting optimal…
Methods like multi-agent reinforcement learning struggle to scale with growing population size. Mean-field games (MFGs) are a game-theoretic approach that can circumvent this by finding a solution for an abstract infinite population, which…
The topic of this paper is achieving finite-time max-consensus in a multi-agent system that communicates over a fading wireless channel and exploits its interference property. This phenomenon corrupts the desired information when data is…
We study the distributed average consensus problem in multi-agent systems with directed communication links that are subject to quantized information flow. The goal of distributed average consensus is for the nodes, each associated with…
We describe a protocol for the average consensus problem on any fixed undirected graph whose convergence time scales linearly in the total number nodes $n$. The protocol is completely distributed, with the exception of requiring all nodes…
In this paper, we present new results on consensus for continuous-time multi- agent systems. We introduce the assumptions of persistent connectivity of the interaction graph and of slow divergence of reciprocal interaction weights.…
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)…
We propose a new decentralized average consensus algorithm with compressed communication that scales linearly with the network size n. We prove that the proposed method converges to the average of the initial values held locally by the…
This paper focuses on consensus problems for high-order, linear multi-agent systems. Undirected communication topologies and fixed, uniform communication time delay are taken into account. This class of problems has been widely study in the…
We study the problems of asymptotic and approximate consensus in which agents have to get their values arbitrarily close to each others' inside the convex hull of initial values, either without or with an explicit decision by the agents. In…
In this paper, we investigate the approximate consensus problem in highly dynamic networks in which topology may change continually and unpredictably. We prove that in both synchronous and partially synchronous systems, approximate…
Multi-agent consensus problems can often be seen as a sequence of autonomous and independent local choices between a finite set of decision options, with each local choice undertaken simultaneously, and with a shared goal of achieving a…
In this paper, we address the average consensus problem of multi-agent systems over wireless networks. We propose a distributed average consensus algorithm by invoking the concept of over-the-air aggregation, which exploits the signal…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…