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
Flocking of Multi-Agent Non-Holonomic Systems With Proximity Graphs
Jiandong Zhu,Jinhu Lu,Xinghuo Yu +2 more
TL;DR: This paper aims to further investigate the flocking and preserving connectedness in multi-agent nonholonomic systems with proximity graphs, in which the positions and the relative distances are not available to the distributed controllers.
Journal ArticleDOI
Closed-Loop Dynamics of Cooperative Vehicle Formations With Parallel Estimators and Communication
Roy S. Smith,Fred Y. Hadaegh +1 more
TL;DR: This paper provides a complete analysis of the formation stability for this class of decentralized control problems and relates the complete closed-loop system poles to the transmitter and receiver gains, and the spectral properties of the Laplacian of the graph describing the communication links within the formation.
Proceedings ArticleDOI
Randomized consensus algorithms over large scale networks
Fabio Fagnani,Sandro Zampieri +1 more
TL;DR: This presentation will focus on random algorithms, reviewing some algorithms present in the literature and proposing some new ones, and establishing some probabilistic concentration results which will give a stronger significance to previous results.
Journal ArticleDOI
A Simple Approach to Distributed Observer Design for Linear Systems
TL;DR: In this article, the authors investigated the distributed estimation problem for continuous-time linear time-invariant (LTI) systems observed by a network of observers and showed that if the observed system is observable and the network graph is a strongly connected digraph, then a distributed observer exists.
Journal ArticleDOI
On topology and dynamics of consensus among linear high-order agents
TL;DR: This work provides answers to the questions of whether the group converges to consensus and what consensus value the group eventually reaches and proposes an LMI-based design for group consensus in the general case.
References
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Matrix Analysis
Roger A. Horn,Charles R. Johnson +1 more
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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