Related papers: Consensus under Persistence Excitation
This work addresses the problem of finding minimum time consensus point in the state space for a set of $N$ identical double integrator agents with bounded inputs and fixed fuel budget constraint. To address the problem, characterization of…
We study a simple continuous-time multi-agent system related to Krause's model of opinion dynamics: each agent holds a real value, and this value is continuously attracted by every other value differing from it by less than 1, with an…
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
In this paper, we study a convergence condition for asynchronous consensus problems in multi-agent systems. The convergence in this context implies the asynchronous consensus value converges to the synchronous one and is unique. Although it…
This work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to input constraints. The communication among agents is described by a time-varying…
In this paper, we deal with first and second-order alignment models with non-universal interaction, time delay and possible lack of connection between the agents. More precisely, we analyze the situation in which the system's agents do not…
We developed a statistical mechanics approach to the problem of opinion formation in interacting agents, constrained by a set of social rules, $B$. To provide the agents with an adaptive quality, we represented both the social agents and…
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…
We study a model of consensus decision making, in which a finite group of Bayesian agents has to choose between one of two courses of action. Each member of the group has a private and independent signal at his or her disposal, giving some…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
Is there an equilibrium for distributed consensus when all agents except one collude to steer the decision value towards their preference? If an equilibrium exists, then an $n-1$ size coalition cannot do better by deviating from the…
People often interact repeatedly: with relatives, through file sharing, in politics, etc. Many such interactions are reciprocal: reacting to the actions of the other. In order to facilitate decisions regarding reciprocal interactions, we…
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…
Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or…
A problem of achieving minimum time consensus for a set of $N$ second-order LTI system agents with bounded inputs and fuel constraints is considered. Unlike our other works, here the damping effect in agent dynamics is included. First, the…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
The original Deffuant model consists of a finite number of agents whose opinion is a number in $[0,1]$. Two socially connected agents are uniformly randomly selected at each time step and approach each other at a rate $\mu\in [0,1/2]$ if…
A new theorem on conditions for convergence to consensus of a multiagent time-dependent time-discrete dynamical system is presented. The theorem is build up on the notion of averaging maps. We compare this theorem to results by Moreau (IEEE…
The problem of consensus in the presence of misbehaving agents has increasingly attracted attention in the literature. Prior results have established algorithms and graph structures for multi-agent networks which guarantee the consensus of…