Related papers: Partial Resilient Leader-Follower Consensus in Tim…
The voter model is a classical interacting particle system, modelling how global consensus is formed by local imitation. We analyse the time to consensus for a particular family of voter models when the underlying structure is a scale-free…
This work considers the problem of resilient consensus where stochastic values of trust between agents are available. Specifically, we derive a unified mathematical framework to characterize convergence, deviation of the consensus from the…
The objective of the invariant ellipsoid method is to minimize the smallest invariant and attractive set of a linear control system operating under the influence of bounded external disturbances. In this paper, this method is extended into…
This paper addresses the distributed consensus problem in the presence of faulty nodes. A novel weight learning algorithm is introduced such that neither network connectivity nor a sequence of history records is required to achieve…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…
Multi-pedestrian trajectory prediction is an indispensable element of autonomous systems that safely interact with crowds in unstructured environments. Many recent efforts in trajectory prediction algorithms have focused on understanding…
This two-part paper discusses robustification methodologies for linear-iterative distributed algorithms for consensus and coordination problems in multicomponent systems, in which unreliable communication links may drop packets. We consider…
Results for estimating the convergence rate of non-stationary distributed consensus algorithms are provided, on the basis of qualitative (mainly topological) as well as basic quantitative information (lower-bounds on the matrix entries).…
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varying leader. In particular, the leader is persistently…
This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
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…
This paper considers solving distributed optimization problems in peer-to-peer multi-agent networks. The network is synchronous and connected. By using the proportional-integral (PI) control strategy, various algorithms with fixed stepsize…
In this work, inspired by secret sharing schemes, we introduce a privacy-preserving approach for network consensus, by which all nodes in a network can reach an agreement on their states without exposing the individual state to neighbors.…
This paper proposes a new sequential model learning architecture to solve partially observable Markov decision problems. Rather than compressing sequential information at every timestep as in conventional recurrent neural network-based…
The paper studies the problem of reaching agreement in a distributed message-passing system prone to crash failures. Crashes are generated by \constrained\ adversaries - a \wadapt\ adversary, who has to fix in advance the set of $f$…
We present an algorithm for synchronous deterministic Byzantine consensus, tolerant to links failures and links asynchrony. It cares for a class of networks with specific needs, where both safety and liveness are essential, and timely…
In this paper, a decentralized stochastic control system consisting of one leader and many homogeneous followers is studied. The leader and followers are coupled in both dynamics and cost, where the dynamics are linear and the cost function…
Censorship resistance with short-term inclusion guarantees is an important feature of decentralized systems, missing from many state-of-the-art and even deployed consensus protocols. In leader-based protocols the leader arbitrarily selects…
This paper considers a resilient high-dimensional constrained consensus problem and studies a resilient distributed algorithm for complete graphs. For convex constrained sets with a singleton intersection, a sufficient condition on…