相关论文: On the Stability of Swarm Consensus Under Noisy Co…

This paper addresses novel consensus problems in the presence of adversaries that can move within the network and induce faulty behaviors in the attacked agents. By adopting several mobile adversary models from the computer science…

This paper studies distributed resilient consensus problem for a class of uncertain nonlinear multiagent systems susceptible to deception attacks. The attacks invade both sensor and actuator channels of each agent. A specific class of…

In this paper, we consider a population of individuals who have actions and opinions, which coevolve, mutually influencing one another on a complex network structure. In particular, we formulate a control problem for this social network, in…

Considering some predictive mechanisms, we show that ultrafast average-consensus can be achieved in networks of interconnected agents. More specifically, by predicting the dynamics of the network several steps ahead and using this…

This paper introduces a novel continuous-time dynamic average consensus algorithm for networks whose interaction is described by a strongly connected and weight-balanced directed graph. The proposed distributed algorithm allows agents to…

In this paper, we present algorithms for synthesizing controllers to distribute a group (possibly swarms) of homogeneous robots (agents) over heterogeneous tasks which are operated in parallel. We present algorithms as well as analysis for…

In this note, the distributed consensus corrupted by relative-state-dependent measurement noises is considered. Each agent can measure or receive its neighbors' state information with random noises, whose intensity is a vector function of…

In this paper, we propose SwarmNet -- a neural network architecture that can learn to predict and imitate the behavior of an observed swarm of agents in a centralized manner. Tested on artificially generated swarm motion data, the network…

This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…

In this paper, robust finite-time consensus of a group of nonlinear multi-agent systems in the presence of communication time delays is considered. In particular, appropriate delay-dependent strategies which are less conservative are…

We study a discrete-time consensus model in which agents iteratively update their states through interactions on a dynamic social network. At each step, a single agent is selected asynchronously and averages the values of its current…

Recent empirical observations of three-dimensional bird flocks and human crowds have challenged the long-prevailing assumption that a metric interaction distance rules swarming behaviors. In some cases, individual agents are found to be…

This article investigates the consensus tracking problem of multi-agent systems under jointly connected topology through automated synthesis of Lyapunov functions. Based on the proposed distributed nonlinear control protocol, several…

The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…

Collective motion among biological organisms such as insects, fish, and birds has motivated considerable interest not only in biology but also in distributed robotic systems. In a robotic or biological swarm, anomalous agents (whether…

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…

Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…

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…

Classical flocking models demonstrate how local interactions generate emergent order, but real-world multi-agent deployments are bound by severe constraints: limited actuator availability, heterogeneous communication latencies, and…

Motivated by the needs of resiliency, scalability, and plug-and-play operation, distributed decision-making is becoming increasingly prevalent. The problem of achieving consensus in a multi-agent system is at the core of distributed…