Related papers: A Unified Framework for Consensus and Synchronizat…
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…
Certain consensus seeking multi-agent systems can be formulated as gradient descent flows of a disagreement function. We study how known pathologies of gradient descent flows in Euclidean spaces carry over to consensus seeking systems that…
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…
Laplacian flows model the rate of change of each node's state as being proportional to the difference between its value and that of its neighbors. Typically, these flows capture diffusion or synchronization dynamics and are well-studied.…
This article considers consensus problem of multiagent systems with double integrator dynamics under nonuniform sampling. It is considered the maximum sampling time can be selected arbitrarily. Moreover, the communication graph can change…
This note concerns the evolution of multi-agent systems on networks over Riemannian manifolds. The motion of each agent is governed by the gradient descent flow of a disagreement function that is a sum of (squared) distances between pairs…
This study develops an original and innovative matrix representation with respect to the information flow for networked multi-agent system. To begin with, the general concepts of the edge Laplacian of digraph are proposed with its algebraic…
Consensus of autonomous agents is a benchmark problem in multi-agent control. In this paper, we consider continuous-time averaging consensus policies (or Laplacian flows) and their discrete-time counterparts over time-varying graphs in…
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…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
In this paper, by extending the concept of Kuramoto oscillator to the left-invariant flow on general Lie group, we investigate the generalized phase synchronization on networks. The analyses and simulations of some typical dynamical systems…
In this paper, we propose several consensus protocols of the first and second order for networked multi-agent systems and provide explicit representations for their asymptotic states. These representations involve the eigenprojection of the…
The goal of the present paper is to highlight the fundamental differences of so-called synchronization or consensus algorithms when the agents to synchronize evolve on a compact homogeneous manifold (like the circle, sphere or the group of…
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…
In this paper, we develop a consensus algorithm for distributed computation of the Riemannian center of mass (RCM) on Lie Groups. The algorithm is built upon a distributed optimization reformulation that allows developing an intrinsic,…
We study invariant solutions to the Positive Hermitian Curvature Flow, introduced by Ustinovskiy, on complex Lie groups. We show in particular that the canonical scale-static metrics on the special linear groups, arising from the Killing…
We consider a nonlinear flow on simplicial complexes related to the simplicial Laplacian, and show that it is a generalization of various consensus and synchronization models commonly studied on networks. In particular, our model allows us…
Synchronisation of coupled oscillators is a ubiquitous phenomenon, occurring in topics ranging from biology and physics, to social networks and technology. A fundamental and long-time goal in the study of synchronisation has been to find…
Synchronization is an omnipresent collective phenomenon in nature and technology, whose understanding is in particular for real-world systems still elusive. We study the synchronization transition in a phase oscillator system with two…
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…