相关论文: Scalable second-order consensus of hierarchical gr…
In this paper, we investigate the approximate consensus problem in highly dynamic networks in which topology may change continually and unpredictably. We prove that in both synchronous and partially synchronous systems, approximate…
We study the problem of distributed consensus in networks where the local agents have high-order ($n\ge 3$) integrator dynamics, and where all feedback is localized in that each agent has a bounded number of neighbors. We prove that no…
We consider the problem of robustness in large consensus networks that occur in many areas such as distributed optimization. Robustness, in this context, is the scaling of performance measures, e.g. H2-norm, as a function of network…
We investigate the performance of linear consensus algorithms subject to a scaling of the underlying network size. Specifically, we model networked systems with $n^{\text{th}}$ order integrator dynamics over families of undirected, weighted…
Understanding what governs collective robustness and how it can be enhanced remains a central pursuit in network science. This paper investigates the robustness of multi-agent consensus networks, quantified by the $H_2$ performance metric,…
In modern interconnected societies, opinions and beliefs can quickly spread across large populations, giving rise to collective behaviors such as the adoption of social norms or polarization. These phenomena have motivated many models aimed…
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 consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower…
Hypergraphs, describing networks where interactions take place among any number of units, are a natural tool to model many real-world social and biological systems. In this work we propose a principled framework to model the organization of…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
This paper studies a consensus protocol over a group of agents driven by second order dynamics. The communication among members of the group is assumed to be directed and affected by two rationally independent time delays, one in the…
This work interprets and generalizes consensus-type algorithms as switching dynamics leading to symmetrization of some vector variables with respect to the actions of a finite group. We show how the symmetrization framework we develop…
We consider first and second order consensus algorithms in networks with stochastic disturbances. We quantify the deviation from consensus using the notion of network coherence, which can be expressed as an $H_2$ norm of the stochastic…
Hierarchy is one of the most conspicuous features of numerous natural, technological and social systems. The underlying structures are typically complex and their most relevant organizational principle is the ordering of the ties among the…
We investigate a social system of agents faced with a binary choice. We assume there is a correct, or beneficial, outcome of this choice. Furthermore, we assume agents are influenced by others in making their decision, and that the agents…
We study networks with linear dynamics where the presence of symmetries of the pair (A,B) induces a partition of the network nodes in clusters and the matrix A is not restricted to be in Laplacian form. For these networks, an invariant…
This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved…
We study the consensus problem in a synchronous distributed system of $n$ nodes under an adaptive adversary that has a slightly outdated view of the system and can block all incoming and outgoing communication of a constant fraction of the…
Collective motion in animals and cells often exhibits rapid reorientations and scale-free velocity correlations. This allows information to spread rapidly through the group, allowing an adequate collective response to environmental changes…