Related papers: Average Consensus over Directed Networks in Open M…
The consensus strategies used in collaborative multi-agent systems (MAS) face notable challenges related to adaptability, scalability, and convergence certainties. These approaches, including structured workflows, debate models, and…
This paper investigates the consensus problem for nonlinear heterogeneous multi-agent systems with limited communication data rate. Each agent is modeled by a higher-order strict-feedback continuous-time system with unknown nonlinearities…
This article aims to improve the performance of networked multi-agent systems, which are common representations of cyber-physical systems. The rate of convergence to consensus of multi-agent networks is critical to ensure cohesive, rapid…
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…
This paper addresses novel consensus problems in the presence of adversaries that can move within the network and induce faulty behaviors in the attacked agents. By adopting several mobile adversary models from the computer science…
In this paper, we investigate the approximate consensus problem in highly dynamic networks in which topology may change continually and unpredictably. We prove that in both synchronous and partially synchronous systems, approximate…
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has…
We propose a new dynamic average consensus algorithm that is robust to information-sharing noise arising from differential-privacy design. Not only is dynamic average consensus widely used in cooperative control and distributed tracking, it…
Average consensus algorithms compute the global average of sensor data in a distributed fashion using local sensor nodes. Simple execution, decentralized philosophy make these algorithms suitable for WSN scenarios. Most of the researchers…
We consider cooperative multi-agent consensus optimization problems over both static and time-varying communication networks, where only local communications are allowed. The objective is to minimize the sum of agent-specific possibly…
Alternating Direction Method of Multipliers (ADMM) is a popular convex optimization algorithm, which can be employed for solving distributed consensus optimization problems. In this setting agents locally estimate the optimal solution of an…
This work aims to address the design of fully distributed control protocols for stochastic consensus, and, for the first time, establishes the existence and uniqueness of solutions for the path-dependent and highly nonlinear closed-loop…
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorithms remain centralized, requiring information exchange and…
Average consensus is key for distributed networks, with applications ranging from network synchronization, distributed information fusion, decentralized control, to load balancing for parallel processors. Existing average consensus…
In its simplest form the well known consensus problem for a networked family of autonomous agents is to devise a set of protocols or update rules, one for each agent, which can enable all of the agents to adjust or tune their "agreement…
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…
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…
In this paper we address the consensus problem in the context of networked agents whose communication graph can be split into a certain number of clusters in such a way that interactions between agents in the same clusters are cooperative,…
We describe a protocol for the average consensus problem on any fixed undirected graph whose convergence time scales linearly in the total number nodes $n$. The protocol is completely distributed, with the exception of requiring all nodes…
In this paper, we study the relationship between resilience and accuracy in the resilient distributed multi-dimensional consensus problem. We consider a network of agents, each of which has a state in $\mathbb{R}^d$. Some agents in the…