Related papers: Scale Fragilities in Localized Consensus Dynamics
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 investigate the performance of linear consensus algorithms subject to a scaling of the underlying network size. Specifically, we model networked systems with $n^{\text{th}}$ order integrator dynamics over families of undirected, weighted…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to convergence to the average of initial states, while directed…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
We investigate the disruption of discrete-time consensus problems via grounding. Loosely speaking, grounding a network occurs if the state of one agent no longer responds to inputs from other agents and/or changes its dynamics. Then, the…
In this paper, we propose matrix-scaled consensus algorithms for linear dynamical agents interacting over an undirected network. Under the proposed algorithms, the state vectors of all agents to asymptotically agree up to some matrix…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
The paper considers the consensus problem in large networks represented by time-varying directed graphs. A practical way of dealing with large-scale networks is to reduce their dimension by collapsing the states of nodes belonging to…
We study the problem of resilient consensus of sampled-data multi-agent networks with double-integrator dynamics. The term resilient points to algorithms considering the presence of attacks by faulty/malicious agents in the network. Each…
We investigate how the graph topology influences the robustness to noise in undirected linear consensus networks. We measure the structural robustness by using the smallest possible value of steady state population variance of states under…
Motivated by widespread dominance hierarchy, growth of group sizes, and feedback mechanisms in social species, we are devoted to exploring the scalable second-order consensus of hierarchical groups. More specifically, a hierarchical group…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…
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…
The vast majority of real-world networks are scale-free, loopy, and sparse, with a power-law degree distribution and a constant average degree. In this paper, we study first-order consensus dynamics in binary scale-free networks, where…
Motivated by the needs of resiliency, scalability, and plug-and-play operation, distributed decision-making is becoming increasingly prevalent. The problem of achieving consensus in a multi-agent system is at the core of distributed…
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…
We consider the problem of robustness in large consensus networks that occur in many areas such as distributed optimization. Robustness, in this context, is the scaling of performance measures, e.g. H2-norm, as a function of network…
This paper studies the problem of coordinating a group of $n$th-order integrator systems. As for the well-studied conventional consensus problem, we consider linear and distributed control with only local and relative measurements. We…
Scale-free (SF) networks and small world networks have been found to occur in very diverse contexts. It is this striking universality which makes one look for widely applicable mechanisms which lead to the formation of such networks. In…