Related papers: Minimum Time Consensus of Multi-agent System under…
In this paper, a method to synthesize controllers using finite time convergence control barrier functions guided by linear temporal logic specifications for continuous time multi-agent dynamical systems is proposed. Finite time convergence…
The non-consensus problems of high order linear time-invariant dynamical homogeneous multi-agent systems are concerned. Based on the conditions of consensus achievement, the mechanisms that lead to non-consensus motions are analyzed.…
This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus…
The paper studies the problem of achieving consensus in multi-agent systems in the case where the dependency digraph $\Gamma$ has no spanning in-tree. We consider the regularization protocol that amounts to the addition of a dummy agent…
In this work, we consider the consensus problem in which legitimate agents share their values over an undirected communication network in the presence of malicious or faulty agents. Different from the previous works, we characterize the…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
In this paper, we propose a new and systematic design framework for output consensus in heterogeneous Multi-Input Multi-Output (MIMO) general nonlinear Multi-Agent Systems (MASs) subjected to directed communication topology. First, the…
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…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
Multi-agent systems driven by large language models (LLMs) have shown promising abilities for solving complex tasks in a collaborative manner. This work considers a fundamental problem in multi-agent collaboration: consensus seeking. When…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
In this paper, the consensus problems of the continuous-time integrator systems under noisy measurements are considered. The measurement noises, which appear when agents measure their neighbors' states, are modeled to be multiplicative. By…
Multi-agent systems can improve reliability, yet under a fixed inference budget they often help, saturate, or even collapse. We develop a minimal and calibratable theory that predicts these regimes from three binding constraints of modern…
Multi-agent consensus problems can often be seen as a sequence of autonomous and independent local choices between a finite set of decision options, with each local choice undertaken simultaneously, and with a shared goal of achieving a…
Distributed averaging of agent initial conditions is a well-studied problem in context of networked systems where coordination amongst the agents is of paramount importance. The asymptotic nature of convergence of distributed averaging…
In this paper, given a linear time-invariant strongly connected network, we study the problem of determining the minimum number of state variables that need to be simultaneously actuated and measured to ensure structural controllability and…
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…
In this work, we study the minimal time to steer a given crowd to a desired configuration. The control is a vector field, representing a perturbation of the crowd velocity, localized on a fixed control set. We will assume that there is no…
This paper brings cooperative protocols for multi-agent systems with agents having a finite state-space. Both scalar single-integrator consensus and general LTI systems synchronization are considered. Systems having a finite state-space…
This work considers multiple agents traversing a network from a source node to the goal node. The cost to an agent for traveling a link has a private as well as a congestion component. The agent's objective is to find a path to the goal…