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
Stochastic Consensus Seeking With Noisy and Directed Inter-Agent Communication: Fixed and Randomly Varying Topologies
Minyi Huang,Jonathan H. Manton +1 more
TL;DR: This work considers consensus seeking of networked agents on directed graphs where each agent has only noisy measurements of its neighbors' states and uses Stochastic approximation type algorithms to generalize the algorithm to networks with random link failures and prove convergence results.
Journal ArticleDOI
Decentralized Parameter Estimation by Consensus Based Stochastic Approximation
TL;DR: An algorithm for decentralized multi-agent estimation of parameters in linear discrete-time regression models is proposed in the form of a combination of local stochastic approximation algorithms and a global consensus strategy, and an analysis of the asymptotic properties of the proposed algorithm is presented.
Journal ArticleDOI
On constructing Lyapunov functions for multi-agent systems
TL;DR: Several choices of Lyapunov equations over various graph topologies are presented, which play an important role in controller design and stability analysis of multi-agent systems.
Journal ArticleDOI
Necessary and sufficient conditions for solving consensus problems of double-integrator dynamics via sampled control
TL;DR: The sampled control protocol is induced from continuous-time linear consensus protocol by using periodic sampling technology and zero-order hold circuit and is equivalently transformed into a linear discrete-time system.
Journal ArticleDOI
Consensus of Multiagent Systems Using Aperiodic Sampled-Data Control
TL;DR: A novel discontinuous Lyapunov functional is introduced on the basis of the vector extension of Wirtinger's inequality, which can lead to simplified and efficient stability conditions for computation and optimization in the aperiodic sampled-data controllers.
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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