相关论文: Almost global consensus on the n-sphere

The guaranteed-performance consensualization for high-order linear and nonlinear multiagent systems with switching topologies is respectively realized in a completely distributed manner in the sense that consensus design criteria are…

We consider a consensus algorithm in which every node in a sequence of undirected, B-connected graphs assigns equal weight to each of its neighbors. Under the assumption that the degree of each node is fixed (except for times when the node…

This paper proposes a consensus controller for multi-agent systems that can guarantee the agents' safety. The controller, built with the idea of output prediction and the Newton-Raphson method, achieves consensus for a class of…

It is desirable but challenging to fulfill system constraints and reach optimal performance in consensus protocol design for practical multi-agent systems (MASs). This paper investigates the optimal consensus problem for general linear MASs…

We show that wave maps from Minkowski space $R^{1+n}$ to a sphere are globally smooth if the initial data is smooth and has small norm in the critical Sobolev space $\dot H^{n/2}$ in the high dimensional case $n \geq 5$. A major difficulty,…

This paper provides a protocol to address the robust output feedback consensus problem for networked heterogeneous nonlinear negative-imaginary (NI) systems with free body dynamics. We extend the definition of nonlinear NI systems to allow…

The present paper investigates the robustness of the consensus protocol over weighted directed graphs using the Nyquist criterion. The limit to which a single weight can vary, while consensus among the agents can be achieved, is explicitly…

In [2], the authors develop a global correspondence between immersed weakly horospherically convex hypersurfaces $\phi:M^n \to \mathbb{H}^{n+1}$ and a class of conformal metrics on domains of the round sphere $\mathbb{S}^n$. Some of the key…

In this work we study the problem of unconstrained convex-optimization in a fully distributed multi-agent setting which includes asynchronous computation and lossy communication. In particular, we extend a recently proposed algorithm named…

We develop a general deformation principle for families of Riemannian metrics on smooth manifolds with possibly non-compact boundary, preserving lower scalar curvature bounds. The principle is used in order to strengthen boundary…

We study continuous-time consensus dynamics for multi-agent systems with undirected switching interaction graphs. We establish a necessary and sufficient condition for exponential asymptotic consensus based on the classical theory of…

We study wave maps from the circle to a general compact Riemannian manifold. We prove that the global controllability of this geometric equation is characterized precisely by the homotopy class of the data. As a remarkable intermediate…

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…

We develop a direct Lyapunov method for the almost sure open-loop stabilizability and asymptotic stabilizability of controlled degenerate diffusion processes. The infinitesimal decrease condition for a Lyapunov function is a new form of…

Consensus networks are usually understood as arithmetic mean driven dynamical averaging systems. In applications, however, network dynamics often describe inherently non-arithmetic and non-linear consensus processes. In this paper, we…

This paper studies large-scale optimization problems on Riemannian manifolds whose objective function is a finite sum of negative log-probability losses. Such problems arise in various machine learning and signal processing applications. By…

This paper examines the global convergence problem of SLAM algorithms, an issue that faces topological obstructions. This is because the state-space of attitude dynamics is defined on a non-contractible manifold: the special orthogonal…

We study the convergence issue for inexact descent algorithm (employing general step sizes) for multiobjective optimizations on general Riemannian manifolds (without curvature constraints). Under the assumption of the local…

We study exact majority consensus in the population protocol model. In this model, the system is described by a graph $G = (V,E)$ with $n$ nodes, and in each time step, a scheduler samples uniformly at random a pair of adjacent nodes to…

For a finite number of agents evolving on a Euclidean space and linked to each other by a connected graph, the Laplacian flow that is based on the inter-agent errors, ensures consensus or synchronization for both first and second-order…