Related papers: Dynamic Median Consensus for Marine Multi-Robot Sy…
We study the performance of asymptotic and approximate consensus algorithms under harsh environmental conditions. The asymptotic consensus problem requires a set of agents to repeatedly set their outputs such that the outputs converge to a…
The consensus strategies used in collaborative multi-agent systems (MAS) face notable challenges related to adaptability, scalability, and convergence certainties. These approaches, including structured workflows, debate models, and…
This paper considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
This article proposes a secure implementation for consensus using a dynamic event-triggered (DET) communication scheme in high-order nonlinear multi-agent systems (MAS) under asynchronous (distributed) denial of service (DoS) attacks. By…
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…
In this paper, we study the problem of resilient consensus for a multi-agent network where some of the nodes might be adversarial, attempting to prevent consensus by transmitting faulty values. Our approach is based on that of the so-called…
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…
We study the problem of resilient average consensus in multi-agent systems where some of the agents are subject to failures or attacks. The objective of resilient average consensus is for non-faulty/normal agents to converge to the average…
In this paper, a Hankel matrix-based fully distributed algorithm is proposed to address a minimal-time deadbeat consensus prediction problem for discrete-time high-order multi-agent systems (MASs). Therein, each agent can predict the…
With a growing number of robots being deployed across diverse applications, robust multimodal anomaly detection becomes increasingly important. In robotic manipulation, failures typically arise from (1) robot-driven anomalies due to an…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
In this paper, we present a motion-based robotic communication framework that enables non-verbal communication among autonomous underwater vehicles (AUVs) and human divers. We design a gestural language for AUV-to-AUV communication which…
Efficient communication can enhance the overall performance of collaborative multi-agent reinforcement learning. A common approach is to share observations through full communication, leading to significant communication overhead. Existing…
In this paper we introduce a novel consensus mech- anism where agents of a network are able to share logical values, or Booleans, representing their local opinions on e.g. the presence of an intruder or of a fire within an indoor…
We consider a multi-agent system where agents aim to achieve a consensus despite interactions with malicious agents that communicate misleading information. Physical channels supporting communication in cyberphysical systems offer…
In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The standard Laplacian flow consensus algorithm for double…
As underwater human activities are increasing, the demand for underwater communication service presents a significant challenge. Existing underwater diver communication methods face hurdles due to inherent disadvantages and complex…
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…
Underwater target tracking technology plays a pivotal role in marine resource exploration, environmental monitoring, and national defense security. Given that acoustic waves represent an effective medium for long-distance transmission in…