相关论文: PrimeTime: A Finite-Time Consensus Protocol for Op…

When networked systems of autonomous agents carry out complex tasks, the control and coordination sought after generally depend on a few fundamental control primitives. Chief among these primitives is consensus, where agents are to converge…

Linear consensus iterations guarantee asymptotic convergence, thereby, limiting their applicability in applications where consensus value needs to be used in real time to perform a system level task. It also leads to wastage of power and…

In its simplest form the well known consensus problem for a networked family of autonomous agents is to devise a set of protocols or update rules, one for each agent, which can enable all of the agents to adjust or tune their "agreement…

Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is…

Population protocols are a model for distributed computing that is focused on simplicity and robustness. A system of $n$ identical agents (finite state machines) performs a global task like electing a unique leader or determining the…

In this paper, the communication effort required in a multi-agent system (MAS) is minimized via an explicit optimization formulation. The paper considers a MAS of single-integrator agents with bounded inputs and a time-invariant…

Population protocols are a fundamental model in distributed computing, where many nodes with bounded memory and computational power have random pairwise interactions over time. This model has been studied in a rich body of literature aiming…

In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…

We consider a multi-agent system where each agent has its own estimate of a given quantity and the goal is to reach consensus on the average. To this purpose, we propose a distributed consensus algorithm that guarantees convergence to the…

Distributed computing models typically assume reliable communication between processors. While such assumptions often hold for engineered networks, e.g., due to underlying error correction protocols, their relevance to biological systems,…

Information exchange is a crucial component of many real-world multi-agent systems. However, the communication between the agents involves two major challenges: the limited bandwidth, and the shared communication medium between the agents,…

Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…

This paper proposes a privacy protocol for distributed average consensus algorithms on bounded real-valued inputs that guarantees statistical privacy of honest agents' inputs against colluding (passive adversarial) agents, if the set of…

In this brief paper, a new consensus protocol based on the sign of innovations is proposed. Based on this protocol each agent only requires single-bit of information about its relative state to its neighboring agents. This is significant in…

We study the scalability of consensus-based distributed optimization algorithms by considering two questions: How many processors should we use for a given problem, and how often should they communicate when communication is not free?…

We consider the problem of multi-choice majority voting in a network of $n$ agents where each agent initially selects a choice from a set of $K$ possible choices. The agents try to infer the choice in majority merely by performing local…

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…

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 studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…

This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed…