相关论文: Consensus and Flocking under Communication Failure
The study of flocking in biological systems has identified conditions for self-organized collective behavior, inspiring the development of decentralized strategies to coordinate the dynamics of swarms of drones and other autonomous…
Is there an equilibrium for distributed consensus when all agents except one collude to steer the decision value towards their preference? If an equilibrium exists, then an $n-1$ size coalition cannot do better by deviating from the…
The paper proposes an intermittent communication mechanism for the tracking consensus of high-order nonlinear multi-agent systems (MASs) surrounded by random disturbances. Each collaborating agent is described by a class of high-order…
The main result of this paper is proving the stability of translating states (flocking states) for the system of $n$-coupled self-propelled agents governed by $\ddot r_k = (1-|\dot r_k|^2)\dot r_k - \frac{1}{n}\sum_{j=1}^n(r_k-r_j)$,…
We first present a new stochastic version of the Cucker-Smale model of the emergent behavior in flocks in which the mutual communication between individuals is affected by random factor. Then, the existence and uniqueness of global solution…
We consider the distributed leader-follower consensus problem with event-triggered communications. The system under consideration is a non-linear input-affine multi agent system. The agents are assumed to have identical dynamics structure…
Consider a system of autonomous interacting agents moving in space, adjusting each own velocity as a weighted mean of the relative velocities of the other agents. In order to test the robustness of the model, we assume that each pair of…
Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…
Consensus of autonomous agents is a benchmark problem in multi-agent control. In this paper, we consider continuous-time averaging consensus policies (or Laplacian flows) and their discrete-time counterparts over time-varying graphs in…
Flocking is a coordinated collective behavior that results from local sensing between individual agents that have a tendency to orient towards each other. Flocking is common among animal groups and might also be useful in robotic swarms. In…
This paper studies deterministic consensus networks with discrete-time dynamics under persistent flows and non-reciprocal agent interactions. An arc describing the interaction strength between two agents is said to be persistent if its…
In this paper, we study distributed consensus in synchronous systems subject to both unexpected crash failures and strategic manipulations by rational agents in the system. We adapt the concept of collusion-resistant Nash equilibrium to…
In a multi-agent system, unconditional (multiple) consensus is the property of reaching to (multiple) consensus irrespective of the instant and values at which states are initialized. For linear algorithms, occurrence of unconditional…
Natural flocks (aligned) and swarms (non-aligned) both exhibit features of near-criticality, challenging their treatment as two ends of the same phase transition. We present a model for the aggregation of active individuals, in which their…
In this paper, we study the robust consensus problem for a set of discrete-time linear agents to coordinate over an uncertain communication network, which is to achieve consensus against the transmission errors and noises resulted from the…
We consider continuous-time consensus systems whose interactions satisfy a form or reciprocity that is not instantaneous, but happens over time. We show that these systems have certain desirable properties: They always converge…
Successfully attaining consensus in the absence of a centralized coordinator is a fundamental problem in distributed multi-agent systems. We analyze progress in the Synod consensus protocol -- which does not assume a unique leader -- under…
We propose an exactly solvable model for the dynamics of voters in a two-party system. The opinion formation process is modeled on a random network of agents. The dynamical nature of interpersonal relations is also reflected in the model,…
In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The standard Laplacian flow consensus algorithm for double…
Biological systems can share and collectively process information to yield emergent effects, despite inherent noise in communication. While man-made systems often employ intricate structural solutions to overcome noise, the structure of…