Related papers: A Geometric Approach to Resilient Distributed Cons…

We introduce a general mathematical framework for distributed algorithms, and a monotonicity property frequently satisfied in application. These properties are leveraged to provide finite-time guarantees for converging algorithms, suited…

This paper investigates agreement protocols over cooperative and cooperative--antagonistic multi-agent networks with coupled continuous-time nonlinear dynamics. To guarantee convergence for such systems, it is common in the literature to…

This paper presents a resilient distributed algorithm for solving a system of linear algebraic equations over a multi-agent network in the presence of Byzantine agents capable of arbitrarily introducing untrustworthy information in…

This paper addresses the problem of distributed resilient state estimation and control for linear time-invariant systems in the presence of malicious false data injection sensor attacks and bounded noise. We consider a system operator…

This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…

For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios. Adopting the standard least-squares approach, in this work we derive both the (centralized) analytic…

Inspired and underpinned by the idea of integral feedback, a distributed constant gain algorithm is proposed for multi-agent networks to solve convex optimization problems with local linear constraints. Assuming agent interactions are…

We address the problem of distributed uncon- strained convex optimization under separability assumptions, i.e., the framework where each agent of a network is endowed with a local private multidimensional convex cost, is subject to…

Motivated by the needs of resiliency, scalability, and plug-and-play operation, distributed decision-making is becoming increasingly prevalent. The problem of achieving consensus in a multi-agent system is at the core of distributed…

This paper addresses the problem of distributed estimation of an unknown dynamic parameter by a multi-agent system over a directed communication network in the presence of an adversarial attack on the agents' sensors. The mode of attack of…

We analyze the correctness of an O(n log n) time divide-and-conquer algorithm for the convex hull problem when each input point is a location determined by a normal distribution. We show that the algorithm finds the convex hull of such…

Given a network of agents, we study the problem of designing a distributed algorithm that computes k independent weighted means of the network's initial conditions (namely, the agents agree on a k-dimensional space). Akin to average…

This paper considers a resilient high-dimensional constrained consensus problem and studies a resilient distributed algorithm for complete graphs. For convex constrained sets with a singleton intersection, a sufficient condition on…

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…

We study resilient leader-follower consensus of multi-agent systems (MASs) in the presence of adversarial agents, where agents' communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the…

For distributed estimations in a sensor network, the consistency and accuracy of an estimator are greatly affected by the unknown correlations between individual estimates. An inconsistent or too conservative estimate may degrade the…

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…

Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…

This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of…

Consider discrete-time linear distributed averaging dynamics, whereby agents in a network start with uncorrelated and unbiased noisy measurements of a common underlying parameter (state of the world) and iteratively update their estimates…