Related papers: Robust Dynamic Average Consensus for a Network of …
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.…
This paper examines resilient dynamic leader-follower consensus within multi-agent systems, where agents share first-order or second-order dynamics. The aim is to develop distributed protocols enabling nonfaulty/normal followers to…
Dynamic average consensus is a decentralized control/estimation framework where a group of agents cooperatively track the average of local time-varying reference signals. In this paper, we develop a novel state decomposition-based privacy…
Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or…
This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
In this paper, we study the continuous-time consensus problem in the presence of adversaries. The networked multi-agent system is modeled as a switched system, where the normal agents have integrator dynamics and the switching signal…
In this paper, we address the discrete-time average consensus problem in strongly connected directed graphs, where nodes exchange information over unreliable error-prone communication links. We enhance the Robustified Ratio Consensus…
In this study, we analyzed the problem of accelerating the linear average consensus algorithm for complex networks. We propose a data-driven approach to tuning the weights of temporal (i.e., time-varying) networks using deep learning…
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…
This work addresses the output consensus problem of constrained heterogeneous multi-agent systems under a switching network with potential communication delays, where outputs are periodic and characterized by an exosystem. Since periodic…
In this paper, we consider the privacy preservation problem in both discrete- and continuous-time average consensus algorithms with strongly connected and balanced graphs, against either internal honest-but-curious agents or external…
Consider a network whose nodes have some initial values, and it is desired to design an algorithm that builds on neighbor to neighbor interactions with the ultimate goal of convergence to the average of all initial node values or to some…
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, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
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 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,…
A variety of problems in distributed control involve a networked system of autonomous agents cooperating to carry out some complex task in a decentralized fashion, e.g., orienting a flock of drones, or aggregating data from a network of…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
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…