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
On Synchronous Robotic Networks—Part II: Time Complexity of Rendezvous and Deployment Algorithms
TL;DR: This paper provides upper and lower bounds on the time complexity of the move-toward average and circumcenter laws, both achieving rendezvous, and of the centroid law, achieving deployment over a region of interest.
Proceedings ArticleDOI
Robustness of information diffusion algorithms to locally bounded adversaries
Haotian Zhang,Shreyas Sundaram +1 more
TL;DR: In this paper, the authors consider the problem of diffusing information in networks that contain malicious nodes and introduce a topological property known as r-robustness of a graph, which provides improved bounds on tolerating malicious behavior.
Journal ArticleDOI
Containment of linear multi-agent systems under general interaction topologies
TL;DR: By introducing a leader into the multi-agent team, a pinning control strategy is designed for a part of agents such that all the agents can reach a consensus with the leader asymptotically.
Journal ArticleDOI
Finite-Time Bipartite Consensus for Multi-Agent Systems on Directed Signed Networks
TL;DR: This paper addresses the finite-time bipartite consensus problem for multi-agent systems (MASs) on a directed signed network and develops two nonlinear control protocols for first- and second-order MASs, respectively, where agents may be influenced by bounded disturbances.
Journal ArticleDOI
A General Alignment Repulsion Algorithm for Flocking of Multi-Agent Systems
TL;DR: In both mathematical analysis and numerical simulation, it is proved that the algorithm guarantees an uncrowded flocking behavior with asymptotic velocity synchronization when sufficiently intensive communication exists within the agents.
References
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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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