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
Stable Flocking of Multiple Inertial Agents on Balanced Graphs
Dongjun Lee,Mark W. Spong +1 more
TL;DR: A provably stable flocking control law is proposed, which ensures that the internal group shape is exponentially stabilized to a desired one, while all the agents' velocities converge to the centroid velocity that is also shown to be time-invariant.
Journal ArticleDOI
Brief paper: Consensus protocols for discrete-time multi-agent systems with time-varying delays
Feng Xiao,Long Wang +1 more
TL;DR: This paper provides a class of effective consensus protocols that are built on repeatedly using the same state information at two time-steps and shows that those protocols can solve consensus problems under milder conditions than the popular consensus algorithm proposed by Jadbabaie et al.
Journal ArticleDOI
Rendezvous of multiple mobile agents with preserved network connectivity
TL;DR: A rendezvous protocol with double-integrator dynamics is proposed, which can enable the group of mobile agents to converge to the same position and move with the same velocity while preserving the connectivity of the whole network during the evolution if the initial network is connected.
Journal ArticleDOI
Self-Triggered Consensus for Multi-Agent Systems With Zeno-Free Triggers
TL;DR: It has been proved that with the proposed “Zeno-free” algorithm the agent group can achieve consensus asymptotically and more energy can be saved using the proposed algorithm in practical multi-agent systems.
Journal ArticleDOI
Consensus of multi-agent linear dynamic systems†
TL;DR: The main result is that if the adjacent topology of the graph is frequently connected then the consensus is achievable via local-information-based decentralized controls, provided that the linear dynamic mode is completely controllable.
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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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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