相关论文: Resilient Consensus via Voronoi Communication Grap…
The paper studies the problem of reaching agreement in a distributed message-passing system prone to crash failures. Crashes are generated by \constrained\ adversaries - a \wadapt\ adversary, who has to fix in advance the set of $f$…
In this paper, we study the discrete-time consensus problem over networks with antagonistic and cooperative interactions. Following the work by Altafini [IEEE Trans. Automatic Control, 58 (2013), pp. 935--946], by an antagonistic…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
Consider a set of vectors in $\mathbb{R}^n$, partitioned into two classes: normal vectors and malicious vectors. The number of malicious vectors is bounded but their identities are unknown. The paper provides a way for achieving a resilient…
This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…
Graph-theoretic tools and techniques have seen wide use in the multi-agent systems literature, and the unpredictable nature of some multi-agent communications has been successfully modeled using random communication graphs. Across both…
This paper considers solving distributed optimization problems in peer-to-peer multi-agent networks. The network is synchronous and connected. By using the proportional-integral (PI) control strategy, various algorithms with fixed stepsize…
This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics. Two distributed adaptive dynamic consensus protocols are proposed, based on the relative output information of…
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…
Average consensus plays a key role in distributed networks, with applications ranging from time synchronization, information fusion, load balancing, to decentralized control. Existing average consensus algorithms require individual agents…
This work considers the robustness of uncertain consensus networks. The first set of results studies the stability properties of consensus networks with negative edge weights. We show that if either the negative weight edges form a cut in…
In distributed systems, a group of $\textit{learners}$ achieve $\textit{consensus}$ when, by observing the output of some $\textit{acceptors}$, they all arrive at the same value. Consensus is crucial for ordering transactions in…
This paper investigates the consensus problem in almost sure sense for uncertain multi-agent systems with noises and fixed topology. By combining the tools of stochastic analysis, algebraic graph theory, and matrix theory, we analyze the…
Convergence guarantees of many resilient consensus algorithms are based on the graph theoretic properties of $r$- and $(r,s)$-robustness. These algorithms guarantee consensus of normally behaving agents in the presence of a bounded number…
Network systems are one of the most active research areas in the engineering community as they feature a paradigm shift from centralized to distributed control and computation. When dealing with network systems, a fundamental challenge is…
We propose a new distributed-computing model, inspired by permissionless distributed systems such as Bitcoin and Ethereum, that allows studying permissionless consensus in a mathematically regular setting. Like in the sleepy model of Pass…
In this paper we study the inherent trade-off between time and communication complexity for the distributed consensus problem. In our model, communication complexity is measured as the maximum data throughput (in bits per second) sent…
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…
This paper addresses the problem of distributed estimation of an unknown dynamic parameter by a multi-agent system over a directed communication network in the presence of an adversarial attack on the agents' sensors. The mode of attack of…