Related papers: Consensus and Flocking under Communication Failure
We prove that a first-order cooperative system of interacting agents converges to consensus if the so-called Persistence Excitation condition holds. This condition requires that the interaction function between any pair of agents satisfies…
In this paper, we study sufficient conditions for the emergence of asymptotic consensus and flocking in a certain class of non-linear generalised Cucker-Smale systems subject to multiplicative communication failures. Our approach is based…
We consider multi-agent systems with cooperative interactions and study the convergence to consensus in the case of time-dependent connections, with possible communication failure. We prove a new condition ensuring consensus: we define a…
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…
In this paper, we consider a multi-agent system consisting of mobile agents with second-order dynamics. The communication network is determined by the so-called topological interaction rule: agents interact with a fixed number of their…
Finding conditions ensuring consensus, i.e. convergence to a common value, for a networked system is of crucial interest, both for theoretical reasons and applications. This goal is harder to achieve when connections between agents are…
We investigate consensus formation and flocking behavior in multi-agent systems subject to two distinct types of delays: a transmission delay accounting for information exchange between agents, and a reaction delay representing the…
The main approach to evaluating communication is by assessing how well it facilitates coordination. If two or more individuals can coordinate through communication, it is generally assumed that they understand one another. We investigate…
A standard belief on emerging collective behavior is that it emerges from simple individual rules. Most of the mathematical research on such collective behavior starts from imperative individual rules, like always go to the center. But how…
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…
This paper studies the consensus problem for multiagent systems with transmission constraints. A novel model of multiagent systems is proposed where the information transmissions between agents are disturbed by irregular distortions or…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
This paper examines the cluster consensus problem of multi-agent systems on matrix-weighted switching networks. Necessary and/or sufficient conditions under which cluster consensus can be achieved are obtained and quantitative…
This paper investigates the problem of securing exponentially fast consensus (exponential consensus for short) for identical agents with finite-dimensional linear system dynamics over dynamic network topology. Our aim is to find the weakest…
A novel way of characterizing the process of reaching consensus for a social system is given. The foundation of the characterization is based on the theorem which states that the sufficient and necessary condition for a system to reach the…
Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously…
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 chapter we look at one of the canonical driving examples for multi-agent systems: average consensus. In this scenario, a group of agents seek to agree on the average of their initial states. Depending on the particular application,…
In this paper, we study the consensus problem for continuous-time and discrete-time multi-agent systems in state-dependent switching networks. In each case, we first consider the networks with fixed connectivity, in which the communication…
We present a general framework for modeling a wide selection of flocking scenarios under free boundary conditions. Several variants have been considered - including examples for the widely observed behavior of hierarchically interacting…