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A theorem on (partial) convergence to consensus of multiagent systems is presented. It is proven with tools studying the convergence properties of products of row stochastic matrices with positive diagonals which are infinite to the left.…
In this paper, we propose a new self-triggered consensus algorithm in networks of multi-agents. Different from existing works, which are based on the observation of states, here, each agent determines its next update time based on its…
We consider the plurality consensus problem among $n$ agents. Initially, each agent has one of $k$ different opinions. Agents choose random interaction partners and revise their state according to a fixed transition function, depending on…
In this work, we consider a group of n agents which interact with each other in a cooperative framework. A Laplacian-based model is proposed to govern the evolution of opinions in the group when the agents are subjected to external biases…
We consider the problem of multi-agent consensus where some agents are subject to faults/attacks and might make updates arbitrarily. The network consists of agents taking integer-valued (i.e., quantized) states under directed communication…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
In this paper, we propose several consensus protocols of the first and second order for networked multi-agent systems and provide explicit representations for their asymptotic states. These representations involve the eigenprojection of the…
This paper studies the consensus problem of heterogeneous multi-agent systems by the feedforward control and linear quadratic (LQ) optimal control theory. Different from the existing consensus control algorithms, which require to design an…
We consider a multi-agent consensus problem in the presence of adversarial agents. The adversaries are able to listen to the inter-agent communications and try to estimate the state of the agents. The agents have a limited bit-rate for…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…
A generalized family of Adversary Robust Consensus protocols is proposed and analyzed. These are distributed algorithms for multi-agents systems seeking to agree on a common value of a shared variable, even in the presence of faulty or…
We consider a multi-agent optimization problem where agents subject to local, intermittent interactions aim to minimize a sum of local objective functions subject to a global inequality constraint and a global state constraint set. In…
Motivated by the large expansion in the study of social networks, this paper deals with the problem of multiple messages spreading over the same network using gossip algorithms. Given two messages distributed over some nodes of the graph,…
Multi-agent systems have demonstrated exceptional performance in downstream tasks beyond diverse single agent baselines. A growing body of work has explored ways to improve their reasoning and collaboration, from vote, debate, to complex…
Structural balance theory assumes triads in networks to gravitate towards stable configurations. The theory has been verified for undirected graphs. Since real-world networks are often directed, we introduce a novel method for considering…
We study opinion dynamics in a social network with stubborn agents who influence their neighbors but who themselves always stick to their initial opinion. We consider first the well-known DeGroot model. While it is known in the literature…
The shift of power systems toward a smarter grid has brought devices such as distributed generators and smart loads with an increase of the operational challenges for the system operator. These challenges are related to the real-time…
Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously…
This work addresses the synchronization/consensus problem of identical multi-agent system (MAS) where the agents' dynamics are linear and the communication network is arbitrarily switching among connected topologies. The approach uses a…
The non-consensus problems of high order linear time-invariant dynamical homogeneous multi-agent systems are concerned. Based on the conditions of consensus achievement, the mechanisms that lead to non-consensus motions are analyzed.…