相关论文: Synchronization on Lie Groups: Coordination of Bli…
In this paper we propose a (non-linear) smoothing algorithm for group-affine observation systems, a recently introduced class of estimation problems on Lie groups that bear a particular structure. As most non-linear smoothing methods, the…
This paper presents a decentralized algorithm for a team of agents to track time-varying fixed points that are the solutions to time-varying convex optimization problems. The algorithm is first-order, and it allows for total asynchrony in…
Imitation is widely observed in populations of decision-making agents. Using our recent convergence results for asynchronous imitation dynamics on networks, we consider how such networks can be efficiently driven to a desired equilibrium…
Many geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given noisy measurements of a subset of their pairwise relative transforms. This problem is…
Rotation group $\mathcal{SO}(d)$ synchronization is an important inverse problem and has attracted intense attention from numerous application fields such as graph realization, computer vision, and robotics. In this paper, we focus on the…
We consider the problem of graph-matching on a network of 3D shapes with uncertainty quantification. We assume that the pairwise shape correspondences are efficiently represented as \emph{functional maps}, that match real-valued functions…
Existing results on cooperative control of multi-agent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs.…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
In this paper, we propose a new framework for synchronization of heterogeneous multi agent system which we refer to as weak synchronization. This new framework of synchronization is based on achieving the network stability in the absence of…
The goal of the present paper is to highlight the fundamental differences of so-called synchronization or consensus algorithms when the agents to synchronize evolve on a compact homogeneous manifold (like the circle, sphere or the group of…
Managing transition plans is one of the major problems of people with cognitive disabilities. Therefore, finding an automated way to generate such plans would be a helpful tool for this community. In this paper we have specifically proposed…
The problem of synchronization over a group $\mathcal{G}$ aims to estimate a collection of group elements $G^*_1, \dots, G^*_n \in \mathcal{G}$ based on noisy observations of a subset of all pairwise ratios of the form $G^*_i {G^*_j}^{-1}$.…
In this note we investigate the problem of global exponential synchronization of multi-agent systems described by nonlinear input affine dynamics. We consider the case of networks described by undirected connected graphs possibly without…
This paper focuses on the multi-agent synchronization problem with an open-loop unstable leader and followers under the switching topologies. For this issue, the typical approach is intermittent communication (including a spanning tree…
The paper proves convergence to global optima for a class of distributed algorithms for nonconvex optimization in network-based multi-agent settings. Agents are permitted to communicate over a time-varying undirected graph. Each agent is…
This paper considers the problem of decentralized optimization on compact submanifolds, where a finite sum of smooth (possibly non-convex) local functions is minimized by $n$ agents forming an undirected and connected graph. However, the…
Symmetry is fundamental to understanding physical systems and can improve performance and sample efficiency in machine learning. Both pursuits require knowledge of the underlying symmetries in data, yet discovering these symmetries…
In this paper a novel distributed algorithm for blind macro calibration in sensor networks based on output synchronization is proposed. The algorithm is formulated as a set of gradient-type recursions for estimating parameters of sensor…
This paper introduces a novel approach of clustering, which is based on group consensus of dynamic linear high-order multi-agent systems. The graph topology is associated with a selected multi-agent system, with each agent corresponding to…