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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Journal ArticleDOI
Consensus for heterogeneous multi-agent systems under fixed and switching topologies
TL;DR: Sufficient conditions are given to guarantee that heterogeneous multi-agent systems reach consensus asymptotically under switching topologies and the obtained results are superior obviously to the existing ones in the literature.
Journal Article
Distributed Kalman filtering and sensor fusion in sensor networks
TL;DR: In this paper, the authors proposed a distributed Kalman filtering (DKF) algorithm for distributed estimation of sensor networks. But their algorithm is not suitable for data fusion problems, and it requires the use of lowpass and band-pass consensus filters.
Journal ArticleDOI
Formation control of multiple underactuated surface vessels
Wenjie Dong,Jay A. Farrell +1 more
TL;DR: In this article, the formation control of a group of underactuated surface vessels has been considered with the aid of results from graph theory, and cooperative control laws are proposed using the relative information between neighbors.
Journal ArticleDOI
Exponential Convergence of the Discrete- and Continuous-Time Altafini Models
TL;DR: This paper considers the discrete-time version of Altafini's model for opinion dynamics in which the interaction among a group of agents is described by a time-varying signed digraph, and shows that a certain type of two-clustering will be reached exponentially fast for almost all initial conditions if, and only if, the sequence ofsigned digraphs is repeatedly jointly structurally balanced corresponding to that type of three-clusters.
Journal ArticleDOI
Input delay margin for consensusability of multi-agent systems
TL;DR: For scalar discrete-time systems, it is shown that the maximum delay margin for consensusability is strictly greater than zero if and only if the open-loop pole of the system is located in a specified interval.
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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