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
Synchronization of Heterogeneous Agents
TL;DR: A necessary and sufficient synchronization condition is proved and it is shown that the agents can be synchronized by an appropriate networked controller if and only if their dynamics intersect.
Proceedings ArticleDOI
Second-order Consensus Protocols in Multiple Vehicle Systems with Local Interactions
Wei Ren,Ella M. Atkins +1 more
TL;DR: In this paper, a distributed coordination scheme with local interactions is studied for multiple vehicle systems, and a second-order consensus protocol is introduced to achieve altitude alignment among a team of micro air vehicles as an illustrative example.
Journal ArticleDOI
Distributed Tracking of Nonlinear Multiagent Systems Under Directed Switching Topology: An Observer-Based Protocol
TL;DR: It is theoretically shown that distributed consensus tracking in the closed-loop MASs equipped with the designed protocols can be ensured if each possible topology contains a directed spanning tree rooted at the leader and the dwell time for the switchings among different topology is less than a derived positive quantity.
Posted Content
Revisit Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint
TL;DR: A distributed observer-type consensus protocol based on relative output measurements is proposed and a new framework is introduced to address in a unified way the consensus of multiagent systems and the synchronization of complex networks.
Proceedings ArticleDOI
Consensus in networked multi-agent systems via sampled control: Switching topology case
TL;DR: The sampled control protocols are induced from continuous-time linear consensus protocol by using periodic sampling technology and zero-order hold circuit and an algebraic-type necessary and sufficient condition is obtained under which consensus is achieved.
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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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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