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When networked systems of autonomous agents carry out complex tasks, the control and coordination sought after generally depend on a few fundamental control primitives. Chief among these primitives is consensus, where agents are to converge…
We study the problem of asymptotic consensus as it occurs in a wide range of applications in both man-made and natural systems. In particular, we study systems with directed communication graphs that may change over time. We recently…
This paper addresses the problem of distributed hypothesis testing in multi-agent networks, where agents repeatedly collect local observations about an unknown state of the world, and try to collaboratively detect the true state through…
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…
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…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
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…
This paper addresses the adaptive consensus problem in uncertain multi-agent systems, particularly under challenges posed by quantized communication. We consider agents with general linear dynamics subject to nonlinear uncertainties and…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Considering some predictive mechanisms, we show that ultrafast average-consensus can be achieved in networks of interconnected agents. More specifically, by predicting the dynamics of the network several steps ahead and using this…
Average consensus plays a key role in distributed networks, with applications ranging from time synchronization, information fusion, load balancing, to decentralized control. Existing average consensus algorithms require individual agents…
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 paper introduces a novel continuous-time dynamic average consensus algorithm for networks whose interaction is described by a strongly connected and weight-balanced directed graph. The proposed distributed algorithm allows agents to…
Exploring the collective behavior of interacting entities is of great interest and importance. Rather than focusing on static and uniform connections, we examine the co-evolution of diverse mobile agents experiencing varying interactions…
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics and (ii) predefined performance constraints over evolutions…
In this technical note, we first clarify a technical issue in the convergence proof of a free-will arbitrary time (FwAT) consensus law proposed recently in Pal et al. IEEE Trans. Cybern. (2020)[1], making the results questionable. We then…
We study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed random graphs, where…
In this paper, we propose matrix-scaled consensus algorithms for linear dynamical agents interacting over an undirected network. Under the proposed algorithms, the state vectors of all agents to asymptotically agree up to some matrix…
The aim of this paper is to analyze a class of consensus algorithms with finite-time or fixed-time convergence for dynamic networks formed by agents with first-order dynamics. In particular, in the analyzed class a single evaluation of a…
This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the…