Related papers: New Results on Delay Robustness of Consensus Algor…
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…
We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…
Multi-agent coordination algorithms with randomized interactions have seen use in a variety of settings in the multi-agent systems literature. In some cases, these algorithms can be random by design, as in a gossip-like algorithm, and in…
This article considers consensus problem of multiagent systems with double integrator dynamics under nonuniform sampling. It is considered the maximum sampling time can be selected arbitrarily. Moreover, the communication graph can change…
We present a graph-theoretic approach to analyzing the robustness of leader-follower consensus dynamics to disturbances and time delays. Robustness to disturbances is captured via the system $\mathcal{H}_2$ and $\mathcal{H}_{\infty}$ norms…
Average consensus plays a key role in distributed networks, with applications ranging from time synchronization, information fusion, load balancing, to decentralized control. Existing average consensus algorithms require individual agents…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
We consider multi-agent systems with cooperative interactions and study the convergence to consensus in the case of time-dependent connections, with possible communication failure. We prove a new condition ensuring consensus: we define a…
In this paper we carry out a stability analysis of a distributed consensus algorithm in presence of link failures. The algorithm combines a new broadcast version of a Push-Sum algorithm, specifically designed for handling link failures,…
This paper investigates the consensus problem of multiple uncertain Lagrangian systems. Due to the discontinuity resulted from the switching topology, achieving consensus in the context of uncertain Lagrangian systems is challenging. We…
In this technical note, we first clarify a technical issue in the convergence proof of a free-will arbitrary time (FwAT) consensus law proposed recently in Pal et al. IEEE Trans. Cybern. (2020)[1], making the results questionable. We then…
The aim of this paper is to analyze a class of consensus algorithms with finite-time or fixed-time convergence for dynamic networks formed by agents with first-order dynamics. In particular, in the analyzed class a single evaluation of a…
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…
We propose an algorithm for average consensus over a directed graph which is both fully asynchronous and robust to unreliable communications. We show its convergence to the average, while allowing for slowly growing but potentially…
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…
We consider distributed consensus in networks where the agents have integrator dynamics of order two or higher ($n\ge 2$). We assume all feedback to be localized in the sense that each agent has a bounded number of neighbors and consider a…
We consider the problem of solving consensus using deterministic algorithms in a synchronous dynamic network with unreliable, directional point-to-point links, which are under the control of a message adversary. In contrast to a large body…
The design of sensor networks capable of reaching a consensus on a globally optimal decision test, without the need for a fusion center, is a problem that has received considerable attention in the last years. Many consensus algorithms have…
This paper investigates the problem of securing exponentially fast consensus (exponential consensus for short) for identical agents with finite-dimensional linear system dynamics over dynamic network topology. Our aim is to find the weakest…
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.…