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Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
In this paper, the fast consensus problem of high-order multi-agent systems under undirected topologies is considered. The direct link between the consensus convergence rate and the control gains is established. An accelerated consensus…
In this paper we study the distributed average consensus problem in multi-agent systems with directed communication links that are subject to quantized information flow. Specifically, we present and analyze a distributed averaging algorithm…
Set-theoretic control is a useful technique for dealing with the uncertainty introduced into power systems by renewable energy resources. Although set operations are computationally expensive in large systems, distributed approaches serve…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…
How to realize high-level autonomy of individuals is one of key technical issues to promote swarm intelligence of multi-agent (node) systems with collective tasks, while the fully distributed design is a potential way to achieve this goal.…
We extend a multi-agent convex-optimization algorithm named Newton-Raphson consensus to a network scenario that involves directed, asynchronous and lossy communications. We theoretically analyze the stability and performance of the…
Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is…
Self-organization is frequently observed in active collectives, from ant rafts to molecular motor assemblies. General principles describing self-organization away from equilibrium have been challenging to identify. We offer a unifying…
This work proposes multi-agent systems setting for concurrent engineering system design optimization and gradually paves the way towards examining graph theoretic constructs in the context of multidisciplinary design optimization problem.…
This paper proposes a distributed algorithm for average consensus in a multi-agent system under a fixed bidirectional communication topology, in the presence of malicious agents (nodes) that may try to influence the average consensus…
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation 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…
Feedback optimisation is an emerging technique aiming at steering a system to an optimal steady state for a given objective function. We show that it is possible to employ this control strategy in a distributed manner. Moreover, we prove…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
This technical note addresses the distributed fixed-time consensus protocol design problem for multi-agent systems with general linear dynamics over directed communication graphs. By using motion planning approaches, a class of distributed…