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
Cluster Consensus in Discrete-Time Networks of Multiagents With Inter-Cluster Nonidentical Inputs
TL;DR: This paper considers general graph topologies, which might be time-varying, and proves that if the graph has cluster spanning trees and all vertices self-linked, then the static linear system can realize intra-cluster synchronization.
Journal ArticleDOI
Performance Evaluation of the Consensus-Based Distributed Subgradient Method Under Random Communication Topologies
Ion Matei,John S. Baras +1 more
TL;DR: This work studies the performance of the consensus-based multi-agent distributed subgradient method and shows how it depends on the probability distribution of the random graph.
Deterministic Gossiping
TL;DR: Three deterministic request-based protocols for gossiping are discussed and it is shown that worst case convergence rates can be characterized in terms of the second largest singular values of suitably defined doubly stochastic matrices.
Proceedings ArticleDOI
On synchronous robotic networks Part I: Models, tasks and complexity notions
TL;DR: This paper proposes a formal model for a network of robotic agents that move and communicate and defines notions of robotic network, control and communication law, coordination task, and time and communication complexity.
Journal ArticleDOI
Flocking in multi‐agent systems with multiple virtual leaders
TL;DR: In this article, the authors investigate the problem of controlling a group of mobile autonomous agents to track multiple virtual leaders with varying velocities in the sense that agents with the same virtual leader attain the same velocity and track the corresponding leader.
References
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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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