Related papers: Decentralized design of consensus protocols with m…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
This paper develops a novel approach to the consensus problem of multi-agent systems by minimizing a weighted state error with neighbor agents via linear quadratic (LQ) optimal control theory. Existing consensus control algorithms only…
MQTT, one of the most popular protocols for the IoT, works according to a publish/subscribe pattern in which multiple clients connect to a single broker, generally hosted in the cloud. However, such a centralised approach does not scale…
This paper presents a novel compositional approach to distributed coordination module (CM) synthesis for multiple discrete-event agents in the formal languages and automata framework. The approach is supported by two original ideas. The…
In this paper, a class of large-scale distributed nonsmooth convex optimization problem over time-varying multi-agent network is investigated. Specifically, the decision space which can be split into several blocks of convex set is…
The problem of disturbance rejection/attenuation for constant-input delayed linear multi-agent systems (MASs) with the directed communication topology is tackled in this paper, where a classic model reduction technique is introduced to…
In this paper, we propose a distributed algorithm, called Directed-Distributed Gradient Descent (D-DGD), to solve multi-agent optimization problems over directed graphs. Existing algorithms mostly deal with similar problems under the…
In this note, a novel observer-based output feedback control approach is proposed to address the distributed optimal output consensus problem of uncertain nonlinear multi-agent systems in the normal form over unbalanced directed graphs. The…
Distributed descent-based methods are an essential toolset to solving optimization problems in multi-agent system scenarios. Here the agents seek to optimize a global objective function through mutual cooperation. Oftentimes, cooperation is…
Inspired by distributed resource allocation problems in dynamic topology networks, we initiate the study of distributed consensus with finite messaging passing. We first find a sufficient condition on the network graph for which no…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is…
This paper studies synchronization of homogeneous and heterogeneous discrete-time multi-agent systems. A class of linear dynamic protocol design methodology is developed based on localized information exchange with neighbors which does not…
This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…
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…
This paper studies kernel PCA in a decentralized setting, where data are distributively observed with full features in local nodes and a fusion center is prohibited. Compared with linear PCA, the use of kernel brings challenges to the…
In this paper, we consider consensus problems over a network of nodes, where the network is divided into a number of clusters. We are interested in the case where the communication topology within each cluster is dense as compared to the…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…