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Consensus dynamics

About: Consensus dynamics is a(n) research topic. Over the lifetime, 261 publication(s) have been published within this topic receiving 33193 citation(s). more


Open accessJournal ArticleDOI: 10.1109/TAC.2004.834113
Reza Olfati-Saber1, Richard M. Murray1Institutions (1)
Abstract: In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with and without time-delays and provide a convergence analysis in all three cases. We establish a direct connection between the algebraic connectivity (or Fiedler eigenvalue) of the network and the performance (or negotiation speed) of a linear consensus protocol. This required the generalization of the notion of algebraic connectivity of undirected graphs to digraphs. It turns out that balanced digraphs play a key role in addressing average-consensus problems. We introduce disagreement functions for convergence analysis of consensus protocols. A disagreement function is a Lyapunov function for the disagreement network dynamics. We proposed a simple disagreement function that is a common Lyapunov function for the disagreement dynamics of a directed network with switching topology. A distinctive feature of this work is to address consensus problems for networks with directed information flow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the effectiveness of our theoretical results. more

Topics: Consensus dynamics (65%), Uniform consensus (61%), Network topology (57%) more

10,379 Citations

Open accessJournal ArticleDOI: 10.1109/JPROC.2006.887293
05 Mar 2007-
Abstract: This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory, algebraic graph theory, and control theory. We discuss the connections between consensus problems in networked dynamic systems and diverse applications including synchronization of coupled oscillators, flocking, formation control, fast consensus in small-world networks, Markov processes and gossip-based algorithms, load balancing in networks, rendezvous in space, distributed sensor fusion in sensor networks, and belief propagation. We establish direct connections between spectral and structural properties of complex networks and the speed of information diffusion of consensus algorithms. A brief introduction is provided on networked systems with nonlocal information flow that are considerably faster than distributed systems with lattice-type nearest neighbor interactions. Simulation results are presented that demonstrate the role of small-world effects on the speed of consensus algorithms and cooperative control of multivehicle formations more

Topics: Consensus dynamics (71%), Uniform consensus (67%), Consensus (61%) more

8,696 Citations

Journal ArticleDOI: 10.1109/TAC.2005.846556
Wei Ren1, Randal W. Beard2Institutions (2)
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. more

Topics: Uniform consensus (63%), Consensus dynamics (61%), Consensus (55%) more

5,451 Citations

Journal ArticleDOI: 10.1109/TAC.2004.841888
Abstract: We study a simple but compelling model of network of agents interacting via time-dependent communication links. The model finds application in a variety of fields including synchronization, swarming and distributed decision making. In the model, each agent updates his current state based upon the current information received from neighboring agents. Necessary and/or sufficient conditions for the convergence of the individual agents' states to a common value are presented, thereby extending recent results reported in the literature. The stability analysis is based upon a blend of graph-theoretic and system-theoretic tools with the notion of convexity playing a central role. The analysis is integrated within a formal framework of set-valued Lyapunov theory, which may be of independent interest. Among others, it is observed that more communication does not necessarily lead to faster convergence and may eventually even lead to a loss of convergence, even for the simple models discussed in the present paper. more

2,707 Citations

Open accessBook
25 Jun 2010-

2,277 Citations

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Topic's top 5 most impactful authors

Mehran Mesbahi

15 papers, 2.3K citations

Guodong Shi

11 papers, 141 citations

Stacy Patterson

11 papers, 467 citations

Rifat Sipahi

10 papers, 171 citations

Renaud Lambiotte

9 papers, 102 citations

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