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
Stability Analysis of Swarms With General Topology
TL;DR: It is proved that, if the topology of the underlying swarm is strongly connected, the swarm is then stable in the sense that all agents will globally and exponentially converge to a hyperellipsoid in finite time, both in open space and profiles.
Proceedings ArticleDOI
Reaching Agreement in Finite Time via Continuous Local State Feedback
Xiao Feng,Wang Long +1 more
TL;DR: This paper proposes two continuous protocols, which ensure that states of agents reach an agreement in a finite time and solves the finite-time average-agreement problem and can be applied to the systems under switching topology.
Journal ArticleDOI
Novel distributed robust adaptive consensus protocols for linear multi-agent systems with directed graphs and external disturbances
TL;DR: In this paper, a distributed adaptive consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances is addressed, and a distributed robust adaptive consensus protocols are designed to guarantee the ultimate boundedness of consensus error and adaptive coupling weights in the presence of external disturbances.
Book
Convergence Rate of Distributed Averaging Dynamics and Optimization in Networks
TL;DR: This tutorial provides an overview of the convergence rate of distributed algorithms for coordination and its relevance to optimization in a system of autonomous agents embedded in a communication network, where each agent is aware of (and can communicate with) its local neighbors only.
Journal ArticleDOI
Second‐order consensus for directed multi‐agent systems with sampled data
TL;DR: The necessary and sufficient consensus condition is presented, the upper bound of sampling interval can be estimated, and the novel time-dependent Lyapunov functional is proposed.
References
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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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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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