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In this paper, we provide a theoretical analysis for nonlinear discontinuous consensus protocols in networks of multiagents over weighted directed graphs. By integrating the analytic tools from nonsmooth stability analysis and graph theory,…
The present paper considers distributed consensus algorithms that involve N agents evolving on a connected compact homogeneous manifold. The agents track no external reference and communicate their relative state according to a…
Models of consensus are used to manage multiple agent systems in order to choose between different recommendations provided by the system. It is assumed that there is a central agent that solicits recommendations or plans from other agents.…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
This paper focuses on the convergence of infor- mation in distributed systems of agents communicating over a network. The information on which the convergence is sought is not represented by real numbers, rather by sets of real numbers,…
We study a model of consensus decision making, in which a finite group of Bayesian agents has to choose between one of two courses of action. Each member of the group has a private and independent signal at his or her disposal, giving some…
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…
In this paper, we consider lightweight decentralised algorithms for achieving consensus in distributed systems. Each member of a distributed group has a private value from a fixed set consisting of, say, two elements, and the goal is for…
This paper proposes a novel distributed event-triggered algorithmic solution to the multi-agent average consensus problem for networks whose communication topology is described by weight-balanced, strongly connected digraphs. The proposed…
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…
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…
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,…
This paper studies a consensus problem in multidimensional networks having the same agent-to-agent interaction pattern under both intra- and cross-layer time delays. Several conditions for the agents to asymptotically reach a consensus are…
This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multi-agent systems in a predefined…
We study the problem of asymptotic consensus as it occurs in a wide range of applications in both man-made and natural systems. In particular, we study systems with directed communication graphs that may change over time. We recently…
The constrained consensus problem considered in this paper, denoted interval consensus, is characterized by the fact that each agent can impose a lower and upper bound on the achievable consensus value. Such constraints can be encoded in…
There has been substantial work studying consensus problems for which there is a single common final state, although there are many real-world complex networks for which the complete consensus may be undesirable. More recently, the concept…
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…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
We present two main theorems along the lines of Lyapunov's second method that guarantee asymptotic state consensus in multi-agent systems of agents in R^m with switching interconnection topologies. The two theorems complement each other in…