Related papers: Generalized String-Stability Criteria for Consensu…
The presence of (partially) automated vehicles on the roads presents an opportunity to compensate the unstable behaviour of conventional vehicles. Vehicles subject to perturbations should (i) recover their equilibrium speed, (ii) react not…
This paper analyzes consensus in multi-agent systems under uniform and nonuniform communication delays, a key challenge in distributed coordination with applications to robotic swarms. It investigates the convergence of a consensus…
Geometrical stability theory is a powerful set of model-theoretic tools that can lead to structural results on models of a simple first-order theory. Typical results offer a characterization of the groups definable in a model of the theory.…
This paper addresses the problem of resilient consensus in the presence of misbehaving nodes. Although it is typical to assume knowledge of at least some nonlocal information when studying secure and fault-tolerant consensus algorithms,…
This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…
This paper proposes a new approach to analyze and design distributed robust consensus control protocols for general linear leaderless multi-agent systems (MASs) in presence of relative-state constraints or uncertainties. First, we show that…
We characterize the stability, metastability, and the stationary regime of traffic dynamics in a single-cell uplink wireless system. The traffic is represented in terms of spatial birth-death processes, in which users arrive as a Poisson…
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…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
This paper investigates event-triggered consensus tracking in nonlinear semi-strict-feedback multi-agent systems involving one leader and multiple followers. We first employ radial basis function neural networks and backstepping techniques…
This paper investigates the consensus problem for nonlinear heterogeneous multi-agent systems with limited communication data rate. Each agent is modeled by a higher-order strict-feedback continuous-time system with unknown nonlinearities…
This paper addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of…
Several algorithms in prior literature have been proposed which guarantee consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the…
This paper presents a novel control design for vehicular formations, which is an alternative to the conventional second-order consensus protocol. The design is motivated by the closed-loop system, which we construct as first-order systems…
This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multi-agent systems in a predefined…
We consider first and second order consensus algorithms in networks with stochastic disturbances. We quantify the deviation from consensus using the notion of network coherence, which can be expressed as an $H_2$ norm of the stochastic…
There has been a growing interest in realizing the resilient consensus of the multi-agent system (MAS) under cyber-attacks, which aims to achieve the consensus of normal agents (i.e., agents without attacks) in a network, depending on the…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
We study the issue of data consistency in distributed systems. Specifically, we consider a distributed system that replicates its data at multiple sites, which is prone to partitions, and which is assumed to be available (in the sense that…
This paper studies consensus of discrete-time multi-agent systems under time-varying directed communication, state and input constraints using a distributed multi-step model predictive control (MPC) framework. Consensus is recast as…