Journal ArticleDOI
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more
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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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On the Nonexistence of Quadratic Lyapunov Functions for Consensus Algorithms
TL;DR: An example proving that there exists no quadratic Lyapunov function for a certain class of linear agreement/consensus algorithms is provided.
Journal ArticleDOI
Distributed Adaptive Consensus Disturbance Rejection for Multi-Agent Systems on Directed Graphs
TL;DR: The adaptive consensus disturbance rejection problem is considered for the liner multi-agent systems under directed graphs and the state observer is designed in a fully distributed fashion with adaptive coupling gain, which has the advantage that the consensus protocol design is independent of the Laplacian matrix associated with the communication network.
Journal ArticleDOI
Distributed Consensus Observer for Multiagent Systems With High-Order Integrator Dynamics
TL;DR: A distributed consensus observer for multiagent systems with high-order integrator dynamics to estimate the leader state and stability analysis is carefully studied to explore the convergence properties under undirected and directed communication.
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Consensus of Multi-Agent Networks in the Presence of Adversaries Using Only Local Information
TL;DR: This paper provides necessary and sufficient conditions for the normal nodes to reach consensus despite the influence of the malicious nodes under different threat assumptions, stated in terms of a novel graph-theoretic property referred to as network robustness.
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Letters: Leader-following consensus of discrete-time multi-agent systems with observer-based protocols
TL;DR: It is proved that the discrete-time leader-following consensus problem can be solved by proposing the distributed observer-based consensus protocol under switching topologies.
References
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Matrix Analysis
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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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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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