Related papers: Interplay Between Resilience and Accuracy in Resil…
Large language model-based multi-agent systems have shown great abilities across various tasks due to the collaboration of expert agents, each focusing on a specific domain. However, the impact of clumsy or even malicious agents--those who…
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…
This paper proposes a double-layered framework (or form of network) to integrate two mechanisms, termed consensus and conservation, achieving distributed solution of a linear equation. The multi-agent framework considered in the paper is…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…
This paper considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights…
In this paper we investigate the problem of the sudden disconnection of an edge in a discrete-time multi-agent consensus network. If the graph remains strongly connected, the multi-agent system still achieves consensus, but in general,…
Achieving average consensus without disclosing sensitive information can be a critical concern for multi-agent coordination. This paper examines privacy-preserving average consensus (PPAC) for vector-valued multi-agent networks. In…
Adaptive networks consist of a collection of agents with adaptation and learning abilities. The agents interact with each other on a local level and diffuse information across the network through their collaborations. In this work, we…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus…
In this paper, we consider the consensus problem of dynamical multiple agents that communicate via a directed moving neighborhood random network. Each agent performs random walk on a weighted directed network. Agents interact with each…
Online multi-agent control problems, where many agents pursue competing and time-varying objectives, are widespread in domains such as autonomous robotics, economics, and energy systems. In these settings, robustness to adversarial…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
We provide a general framework for characterizing the trade-off between accuracy and robustness in supervised learning. We propose a method and define quantities to characterize the trade-off between accuracy and robustness for a given…
In distributed machine learning, where agents collaboratively learn from diverse private data sets, there is a fundamental tension between consensus and optimality. In this paper, we build on recent algorithmic progresses in distributed…
We study the problem of distributed consensus in networks where the local agents have high-order ($n\ge 3$) integrator dynamics, and where all feedback is localized in that each agent has a bounded number of neighbors. We prove that no…
In this paper, a fully distributed averaging algorithm in the presence of adversarial Byzantine agents is proposed. The algorithm is based on a resilient retrieval procedure, where all non-Byzantine nodes send their own initial values and…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
This paper addresses resilient collaborative localization in multi-agent systems exposed to spoofed radio frequency measurements. Each agent maintains multiple hypotheses of its own state and exchanges selected information with neighbors…
Linear consensus iterations guarantee asymptotic convergence, thereby, limiting their applicability in applications where consensus value needs to be used in real time to perform a system level task. It also leads to wastage of power and…