Related papers: Delay Robustness of Consensus Algorithms: Beyond T…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
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…
We investigate consensus formation and flocking behavior in multi-agent systems subject to two distinct types of delays: a transmission delay accounting for information exchange between agents, and a reaction delay representing the…
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…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
The purpose of this short paper is to provide a theoretical analysis for the consensus problem under nonlinear protocols. A main contribution of this work is to generalize the previous consensus problems under nonlinear protocols for…
In this work, we consider the consensus problem in which legitimate agents share their values over an undirected communication network in the presence of malicious or faulty agents. Different from the previous works, we characterize the…
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 have recently proposed a "surplus-based" algorithm which solves the multi-agent average consensus problem on general strongly connected and static digraphs. The essence of that algorithm is to employ an additional variable to keep track…
We consider networks of coupled maps where the connections between units involve time delays. We show that, similar to the undelayed case, the synchronization of the network depends on the connection topology, characterized by the spectrum…
In the analysis of consensus problems for multi-agent systems affected by time delays, the delay margin for a given protocol is heavily dependent on the communication topology being used. This document aims to answer the question of what is…
The problem of consensus in the presence of misbehaving agents has increasingly attracted attention in the literature. Prior results have established algorithms and graph structures for multi-agent networks which guarantee the consensus of…
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 consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
This paper studies a consensus protocol over a group of agents driven by second order dynamics. The communication among members of the group is assumed to be directed and affected by two rationally independent time delays, one in the…
Distributed consensus protocols provide a mechanism for spreading information within clustered networks, allowing agents and clusters to make decisions without requiring direct access to the state of the ensemble. In this work, we propose a…
In this paper, we consider a leader-following consensus problem of a group of autonomous agents with time-varying coupling delays. Two different cases of coupling topologies are investigated. At first, a necessary and sufficient condition…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
We study distributed computation in synchronous dynamic networks where an omniscient adversary controls the unidirectional communication links. Its behavior is modeled as a sequence of directed graphs representing the active (i.e. timely)…
A new theorem on conditions for convergence to consensus of a multiagent time-dependent time-discrete dynamical system is presented. The theorem is build up on the notion of averaging maps. We compare this theorem to results by Moreau (IEEE…