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Consensusability is an important property for many multi-agent systems (MASs) as it implies the existence of networked controllers driving the states of MAS subsystems to the same value. Consensusability is of interest even when the MAS…
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…
It is desirable but challenging to fulfill system constraints and reach optimal performance in consensus protocol design for practical multi-agent systems (MASs). This paper investigates the optimal consensus problem for general linear MASs…
Almost all multi-agent reinforcement learning algorithms without communication follow the principle of centralized training with decentralized execution. During centralized training, agents can be guided by the same signals, such as the…
We consider consensus of multi-agent systems as a dual problem to Markov processes. Based on an exchange of relevant notions and results between the two fields, we present a uniform framework which admits the introduction and treatment of…
In this paper, we present new results on consensus for continuous-time multi- agent systems. We introduce the assumptions of persistent connectivity of the interaction graph and of slow divergence of reciprocal interaction weights.…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
Consensusability of multi-agent systems (MASs) certifies the existence of a distributed controller capable of driving the states of each subsystem to a consensus value. We study the consensusability of linear interconnected MASs (LIMASs)…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. By defining the graph filter from the consensus protocol, we establish the direct relation between average consensus of multi-agent systems…
Drawing inspiration from the theory of linear "decomposable systems", we provide a method, based on linear matrix inequalities (LMIs), which makes it possible to prove the convergence (or consensus) of a set of interacting agents with…
This paper aims at secure and privacy preserving consensus algorithms of networked systems. Due to the technical challenges behind decentralized design of such algorithms, the existing results are mainly restricted to a network of systems…
Consensus control in multi-agent systems has received significant attention and practical implementation across various domains. However, managing consensus control under unknown dynamics remains a significant challenge for control design…
In this paper, finite-time state consensus problems for continuous-time multi-agent systems are discussed, and two distributive protocols, which ensure that the states of agents reach an agreement in a finite time, are presented. By…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
We propose an axiomatic approach for design and performance analysis of noisy linear consensus networks by introducing a notion of systemic performance measure. This class of measures are spectral functions of Laplacian eigenvalues of the…
An often neglected issue in multi-agent reinforcement learning (MARL) is the potential presence of unreliable agents in the environment whose deviations from expected behavior can prevent a system from accomplishing its intended tasks. In…
This work is concerned with stochastic consensus conditions of multi-agent systems with both time-delays and measurement noises. For the case of additive noises, we develop some necessary conditions and sufficient conditions for stochastic…
This paper proposes a continuous-time dynamic active weighted average consensus algorithm in which the agents can alternate between active and passive modes depending on their ability to access to their reference input. The objective is to…
Multi agent consensus algorithms with update steps based on so-called balanced asymmetric chains, are analyzed. For such algorithms it is shown that (i) the set of accumulation points of states is finite, (ii) the asymptotic unconditional…
The leader-following consensus problem for general linear multi-agent systems over jointly connected switching networks has been a challenging problem and the solvability of the problem has been limited to the class of linear multi-agent…