Journal ArticleDOI
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more
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TLDR
It is shown that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves.Abstract:
This note considers the problem of information consensus among multiple agents in the presence of limited and unreliable information exchange with dynamically changing interaction topologies. Both discrete and continuous update schemes are proposed for information consensus. This note shows that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves.read more
Citations
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Journal ArticleDOI
Approximate Projected Consensus for Convex Intersection Computation: Convergence Analysis and Critical Error Angle
TL;DR: This paper studies an approximate projected consensus algorithm for a network to cooperatively compute the intersection of convex sets, where each set corresponds to one network node, and shows that π/4 is a critical angle for the error of the projection approximation to ensure the boundedness.
Journal ArticleDOI
Consensus of second-order discrete-time multi-agent systems with fixed topology
Dongmei Xie,Shaokun Wang +1 more
TL;DR: In this article, the consensus of second-order discrete-time multi-agent systems with fixed topology was studied by algebraic graph theory and matrix theory, and the convergence of system matrix was analyzed.
Journal ArticleDOI
Distributed leader-following consensus for second-order multi-agent systems with nonlinear inherent dynamics
TL;DR: Two distributed control protocols are proposed under fixed undirected communication topology and fixed directed communicationTopology for leader-following consensus problem for second-order multi-agent systems with nonlinear inherent dynamics.
Journal ArticleDOI
Tracking Control of Multiple-Wheeled Mobile Robots With Limited Information of a Desired Trajectory
TL;DR: With the aid of communications between systems, distributed control laws are proposed such that the state of each mobile robot asymptotically tracks the desired trajectory.
Journal ArticleDOI
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach
TL;DR: In this article, a distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated, where a local compensatory variable is generated based on the signals collected from its neighbors.
References
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Matrix Analysis
Roger A. Horn,Charles R. Johnson +1 more
TL;DR: In this article, the authors present results of both classic and recent matrix analyses using canonical forms as a unifying theme, and demonstrate their importance in a variety of applications, such as linear algebra and matrix theory.
Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
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Algebraic Graph Theory
Chris Godsil,Gordon F. Royle +1 more
TL;DR: The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.
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Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
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