Related papers: Accelerating the Convergence Rate of Consensus for…
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 presents a new method for achieving dynamic consensus in linear discrete-time homogeneous multi-agent systems (MAS) with marginally stable or unstable dynamics. The guarantee of consensus in this setting involves a set of…
This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation…
This paper investigates the consensus problem for nonlinear heterogeneous multi-agent systems with limited communication data rate. Each agent is modeled by a higher-order strict-feedback continuous-time system with unknown nonlinearities…
We consider a linear consensus system with n agents that can switch between r different connectivity patterns. A natural question is which switching law yields the best (or worst) possible speed of convergence to consensus? We formulate…
We consider a distributed setup for reinforcement learning, where each agent has a copy of the same Markov Decision Process but transitions are sampled from the corresponding Markov chain independently by each agent. We show that in this…
Stochastic optimization is a vital field in the realm of mathematical optimization, finding applications in diverse areas ranging from operations research to machine learning. In this paper, we introduce a novel first-order optimization…
In this paper, we consider the resilient multi-dimensional consensus and distributed optimization problems of multi-agent systems (MASs) in the presence of both agent-based and denial-of-service (DoS) attacks. The considered agent-based…
The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and…
Constrained submodular set function maximization problems often appear in multi-agent decision-making problems with a discrete feasible set. A prominent example is the problem of multi-agent mobile sensor placement over a discrete domain.…
We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…
In this article, we establish exponential contraction results for the diameter and variance of general first-order multiagent systems. Our approach is based on compactification techniques, and works under rather mild assumptions. Namely, we…
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has…
This paper proposes a new approach to analyze and synthesize robust consensus control laws for general linear leaderless multi-agent systems (MASs) subjected to input constraints or uncertainties. First, the MAS under input constraints or…
This paper studies prototypical strategies to sequentially aggregate independent decisions. We consider a collection of agents, each performing binary hypothesis testing and each obtaining a decision over time. We assume the agents are…
While Visual Multi-Agent Systems (VMAS) promise to enhance comprehensive abilities through inter-agent collaboration, empirical evidence reveals a counter-intuitive "scaling wall": increasing agent turns often degrades performance while…
We study two fundamental problems of distributed computing, consensus and approximate agreement, through a novel approach for proving lower bounds and impossibility results, that we call the asynchronous speedup theorem. For a given…
This paper presents the design and analysis of the finite/fixed-time scaled consensus for multiagent systems. A study on a generic attracting law, the certain classes of nonlinear systems that admit attractors with finite/fixed-time…
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…
It is desirable but challenging to fulfill system constraints and reach optimal performance in consensus protocol design for practical multi-agent systems (MASs). This paper investigates the optimal consensus problem for general linear MASs…