Related papers: A necessary and sufficient condition for discrete-…
Consensus of autonomous agents is a benchmark problem in multi-agent control. In this paper, we consider continuous-time averaging consensus policies (or Laplacian flows) and their discrete-time counterparts over time-varying graphs in…
We present two main theorems along the lines of Lyapunov's second method that guarantee asymptotic state consensus in multi-agent systems of agents in R^m with switching interconnection topologies. The two theorems complement each other in…
This paper studies consensus problems for multi-agent systems defined on directed graphs where the consensus dynamics involves nonlinear and discontinuous functions. Sufficient conditions, involving the nonlinear functions and the topology…
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 the problem of driving the state of a network of identical agents, modeled by boundary-controlled heat equations, towards a common steady-state profile is addressed. Decentralized consensus protocols are proposed to address…
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…
We prove that asymptotic global consensus is always reached in the Hegselmann-Krause model with finite speed of information propagation $\mathfrak{c}>0$ under minimal (i.e., necessary) assumptions on the influence function. In particular,…
We study the distributed consensus of state vectors in a discrete-time multi-agent network with matrix edge weights using stochastic matrix convergence theory. We present a distributed asynchronous time update model wherein one randomly…
This work considers a point-to-point network of n nodes connected by directed links, and proves tight necessary and sufficient conditions on the underlying communication graphs for achieving consensus among these nodes under crash faults.…
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…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
The constrained consensus problem considered in this paper, denoted interval consensus, is characterized by the fact that each agent can impose a lower and upper bound on the achievable consensus value. Such constraints can be encoded in…
A consensus system is a linear multi-agent system in which agents communicate to reach a so-called consensus state, defined as the average of the initial states of the agents. Consider a more generalized situation in which each agent is…
We consider a variant of the Hegselmann-Krause model of consensus formation where information between agents propagates with a finite speed $\mathfrak{c}$. This leads to a system of ordinary differential equations (ODE) with state-dependent…
We discuss the possibility of reaching consensus in finite time using only linear iterations, with the additional restrictions that the update matrices must be stochastic with positive diagonals and consistent with a given graph structure.…
We introduce the problem of asymptotic subspace consensus, which requires the outputs of processes to converge onto a common subspace while remaining inside the convex hull of initial vectors.This is a relaxation of asymptotic consensus in…
Consider a network of agents that all want to guess the correct value of some ground truth state. In a sequential order, each agent makes its decision using a single private signal which has a constant probability of error, as well as…
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,…
This paper investigates the problem of securing exponentially fast consensus (exponential consensus for short) for identical agents with finite-dimensional linear system dynamics over dynamic network topology. Our aim is to find the weakest…
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…