Related papers: Rafting Towards Consensus: Formation Control of Di…
The consensus problem is a fundamental problem in distributed systems. It involves a set of actors, or entities, that need to agree on some values or decisions. The Raft algorithm is a solution to the consensus problem that has gained…
We present two new consensus algorithms for dynamic networks. The first, Fast Raft, is a variation on the Raft consensus algorithm that reduces the number of message rounds in typical operation. Fast Raft is ideal for fast-paced distributed…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Distributed control increases system scalability, flexibility, and redundancy. Foundational to such decentralisation is consensus formation, by which decision-making and coordination are achieved. However, decentralised multi-agent systems…
In this paper, the recent developments on distributed coordination control, especially the consensus and formation control, are summarized with the graph theory playing a central role, in order to present a cohesive overview of the…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
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…
Distributed consensus is a fundamental primitive for constructing fault-tolerant, strongly-consistent distributed systems. Though many distributed consensus algorithms have been proposed, just two dominate production systems: Paxos, the…
Designing reconfiguration schemes for consensus protocols is challenging because subtle corner cases during reconfiguration could invalidate the correctness of the protocol. Thus, most systems that embed consensus protocols conservatively…
Conventional consensus algorithms, such as Paxos and Raft, encounter inefficiencies when applied to large-scale distributed systems due to the requirement of waiting for replies from a majority of nodes. To address these challenges, we…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
This study proposes a distributed algorithm that makes agents' adaptive grouping entrap multiple targets via automatic decision making, smooth flocking, and well-distributed entrapping. Agents make their own decisions about which targets to…
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…
The Raft agreement algorithm is recognized for its ease of understanding and practical implementation, and is currently adopted in systems such as Kubernetes. However, it has some limitations in terms of scalability and performance as it…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
Consensus protocols are crucial for reliable distributed systems as they let them cope with network and server failures. For decades, most consensus protocols have been designed as variations of the seminal Paxos, yet in 2014 Raft was…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
This paper focuses on analyzing the finite-time convergence of a nonlinear consensus algorithm for multi-agent networks with unknown inherent nonlinear dynamics. Due to the existence of the unknown inherent nonlinear dynamics, the stability…