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This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while maintaining the desired formation pattern. Unlike conventional…
Traditional geometric registration based estimation methods only exploit the CAD model implicitly, which leads to their dependence on observation quality and deficiency to occlusion. To address the problem,the paper proposes a bidirectional…
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…
In this paper, we study the resilient vector consensus problem in networks with adversarial agents and improve resilience guarantees of existing algorithms. A common approach to achieving resilient vector consensus is that every…
The purpose of this short paper is to provide a theoretical analysis for the consensus problem under nonlinear protocols. A main contribution of this work is to generalize the previous consensus problems under nonlinear protocols for…
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…
An aircraft conflict occurs when two or more aircraft cross at a certain distance at the same time. Specific air traffic controllers are assigned to solve such conflicts. A controller needs to consider various types of information in order…
We consider grouping as a general characterization for problems such as clustering, community detection in networks, and multiple parametric model estimation. We are interested in merging solutions from different grouping algorithms,…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
A novel distributed control law for consensus of networked double integrator systems with biased measurements is developed in this article. The agents measure relative positions over a time-varying, undirected graph with an unknown and…
A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…
This paper investigates cooperative estimation of 3D target object motion for visual sensor networks. In particular, we consider the situation where multiple smart vision cameras see a group of target objects. The objective here is to meet…
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…
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…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
We present a new and efficient algorithm for determining a consensus value for a network of agents. Different from existing algorithms, our algorithm evaluates the consensus value for very large networks using heat kernel pagerank. We…
In multi-view clustering, different views may have different confidence levels when learning a consensus representation. Existing methods usually address this by assigning distinctive weights to different views. However, due to noisy nature…
Models of consensus are used to manage multiple agent systems in order to choose between different recommendations provided by the system. It is assumed that there is a central agent that solicits recommendations or plans from other agents.…
The design of sensor networks capable of reaching a consensus on a globally optimal decision test, without the need for a fusion center, is a problem that has received considerable attention in the last years. Many consensus algorithms have…
In this paper, we provide a theoretical analysis for nonlinear discontinuous consensus protocols in networks of multiagents over weighted directed graphs. By integrating the analytic tools from nonsmooth stability analysis and graph theory,…