Related papers: Consensus for switched networks with unknown but b…
The paper proposes an intermittent communication mechanism for the tracking consensus of high-order nonlinear multi-agent systems (MASs) surrounded by random disturbances. Each collaborating agent is described by a class of high-order…
This paper proposes a new approach to analyze and synthesize robust consensus control laws for general linear leaderless multi-agent systems (MASs) subjected to input constraints or uncertainties. First, the MAS under input constraints or…
We provide a protocol for real-valued average consensus by networks of agents which exchange only a single message from the ternary alphabet {-1,0,1} between neighbors at each step. Our protocol works on time-varying undirected graphs…
This paper studies the problem of finding the median of N distinct numbers distributed across networked agents. Each agent updates its estimate for the median from noisy local observations of one of the N numbers and information from…
Consensus protocols can be an effective tool for synchronizing small amounts of data over small regions. We describe the concept and implementation of entangled links, applied to data transmission, using the framework of Promise Theory as a…
We study the state consensus problem for linear shift-invariant discrete-time homogeneous multi-agent systems (MASs) over time-varying graphs. A novel approach based on the small gain theorem is proposed to design the consensus control…
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,…
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).…
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…
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…
This paper investigates under which conditions information can be reliably shared and consensus can be solved in unknown and anonymous message-passing networks that suffer from crash-failures. We provide algorithms to emulate registers and…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
In this paper, we consider a leader-following consensus problem for networks of continuous-time integrator agents with a time-varying leader under measurement noises. We propose a neighbor-based state-estimation protocol for every agent to…
This paper considers the consensus performance improvement problem of networked general linear agents subject to external disturbances over Markovian randomly switching communication topologies. The consensus control laws can only use its…
In this paper, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive…
We have recently proposed a "surplus-based" algorithm which solves the multi-agent average consensus problem on general strongly connected and static digraphs. The essence of that algorithm is to employ an additional variable to keep track…
We consider the problem of robustness in large consensus networks that occur in many areas such as distributed optimization. Robustness, in this context, is the scaling of performance measures, e.g. H2-norm, as a function of network…
We consider decentralized optimization problems where one aims to minimize a sum of convex smooth objective functions distributed between nodes in the network. The links in the network can change from time to time. For the setting when the…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
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…