An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination
IEEE Transactions on Industrial InformaticsPublished 15 September 2012
Yongcan Cao, Wenwu Yu, Wei Ren, Guanrong Chen
Citations2,334
SJR quartileQ1
SJR score3.42
SNIP3.22
Generate an AI Snapshot to get a quick, structured summary of this paper.
Study Snapshot
ObjectiveStudy objective
MethodsResearch methodology
PopulationPopulation studied
Sample sizeSample sizes
OutcomesStudy outcomes here
ResultsStudy results comes here
LimitationsResearch study limitations comes here
A concise AI-generated summary of the paper will appear here once you click Generate AI Snapshot.
TL;DR
This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposes several promising research directions.
Abstract
This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial vehicles, unmanned ground vehicles, and unmanned underwater vehicles, has been a very active research subject studied extensively by the systems and control community. The recent results in this area are categorized into several directions, such as consensus, formation control, optimization, and estimation. After the review, a short discussion section is included to summarize the existing research and to propose several promising research directions along with some open problems that are deemed important for further investigations.
Keywords
Computer ScienceEngineering
IEEE Transactions on Automatic ControlConsensus Problems in Networks of Agents With Switching Topology and Time-Delays
12,721 Citations2004Reza Olfati‐Saber, Richard M. Murray
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.
Proceedings of the IEEEConsensus and Cooperation in Networked Multi-Agent Systems
10,337 Citations2007Reza Olfati‐Saber, J.A. Fax +1 more
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 is provided.
IEEE Transactions on Automatic ControlCoordination of groups of mobile autonomous agents using nearest neighbor rules
8,330 Citations2003Ali Jadbabaie, Jie Lin +1 more
Physical Review LettersNovel Type of Phase Transition in a System of Self-Driven Particles
7,415 Citations1995Tamás Vicsek, András Czirók +3 more
Numerical evidence is presented that this model results in a kinetic phase transition from no transport to finite net transport through spontaneous symmetry breaking of the rotational symmetry.
IEEE Transactions on Automatic ControlConsensus seeking in multiagent systems under dynamically changing interaction topologies
6,542 Citations2005Wei Ren, Randal W. Beard
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.
IEEE Transactions on Automatic ControlFlocking for Multi-Agent Dynamic Systems: Algorithms and Theory
5,001 Citations2006Reza Olfati‐Saber
A theoretical framework for design and analysis of distributed flocking algorithms, and shows that migration of flocks can be performed using a peer-to-peer network of agents, i.e., "flocks need no leaders."
Graduate texts in mathematicsAlgebraic Graph Theory
4,813 Citations2001Chris Godsil, Gordon Royle
The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.
IEEE Transactions on Automatic ControlInformation Flow and Cooperative Control of Vehicle Formations
4,549 Citations2004J.A. Fax, Richard M. Murray
IEEE Transactions on Automatic ControlDistributed Subgradient Methods for Multi-Agent Optimization
3,692 Citations2009Angelia Nedić, Asuman Ozdaglar
The authors' convergence rate results explicitly characterize the tradeoff between a desired accuracy of the generated approximate optimal solutions and the number of iterations needed to achieve the accuracy.
Journal of the American Statistical AssociationReaching a Consensus
3,434 Citations1974Morris H. DeGroot
IEEE Control SystemsInformation consensus in multivehicle cooperative control
3,138 Citations2007Wei Ren, Randal W. Beard +1 more
Theoretical results regarding consensus-seeking under both time invariant and dynamically changing communication topologies are summarized and several specific applications of consensus algorithms to multivehicle coordination are described.
Systems & Control LettersFast linear iterations for distributed averaging
2,722 Citations2004Lin Xiao, Stephen Boyd
Communications and control engineering/Communications and control engineering seriesDistributed Consensus in Multi-vehicle Cooperative Control
2,713 Citations2007Wei Ren, Randal W. Beard
Academic control systems researchers and their counterparts in government laboratories and robotics- and aerospace-related industries will find the ideas presented in Distributed Consensus in Multi-vehicle Cooperative Control of great interest.
IEEE Transactions on Automatic ControlStability of multiagent systems with time-dependent communication links
2,710 Citations2005Luc Moreau
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.
IEEE Transactions on Robotics and AutomationCoverage Control for Mobile Sensing Networks
2,661 Citations2004Jorge Cortés, Sonia Martı́nez +2 more
This paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies which are adaptive, distributed, asynchronous, and verifiably correct.
IEEE Transactions on Information TheoryRandomized gossip algorithms
2,482 Citations2006Stephen Boyd, Aritra Ghosh +2 more
This work analyzes the averaging problem under the gossip constraint for an arbitrary network graph, and finds that the averaging time of a gossip algorithm depends on the second largest eigenvalue of a doubly stochastic matrix characterizing the algorithm.
IEEE Transactions on Circuits and Systems I Regular PapersConsensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint
2,383 Citations2009Zhongkui Li, Zhisheng Duan +2 more
A distributed observer-type consensus protocol based on relative output measurements is proposed and a new framework is introduced to address in a unified way the consensus of multiagent systems and the synchronization of complex networks.
IEEE Transactions on Industrial InformaticsAn Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination
2,334 Citations2012Yongcan Cao, Wenwu Yu +2 more
This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposes several promising research directions.
IEEE Transactions on Automatic ControlConstrained Consensus and Optimization in Multi-Agent Networks
2,092 Citations2010A. Nedić, Asuman Ozdaglar +1 more
A distributed "projected subgradient algorithm" which involves each agent performing a local averaging operation, taking a subgradient step to minimize its own objective function, and projecting on its constraint set, and it is shown that, with an appropriately selected stepsize rule, the agent estimates generated by this algorithm converge to the same optimal solution.
IEEE Transactions on Automatic ControlDistributed asynchronous deterministic and stochastic gradient optimization algorithms
2,021 Citations1986John N. Tsitsiklis, Dimitri P. Bertsekas +1 more
IEEE Transactions on Automatic ControlEmergent Behavior in Flocks
1,814 Citations2007Felipe Cucker, Steve Smale
The main result shows that when beta<1/2 convergence of the flock to a common velocity is guaranteed, while for betages1/ 2 convergence is guaranteed under some condition on the initial positions and velocities of the birds only.
Distributed Kalman filtering for sensor networks
1,558 Citations2007Reza Olfati‐Saber
A continuous-time distributed Kalman filter that uses local aggregation of the sensor data but attempts to reach a consensus on estimates with other nodes in the network and gives rise to two iterative distributedKalman filtering algorithms with different consensus strategies on estimates.
International Journal of Robust and Nonlinear ControlDistributed multi‐vehicle coordinated control<i>via</i>local information exchange
1,481 Citations2006Wei Ren, Ella Atkins
This work focuses on a formal analysis of information exchange topologies that permit second‐order consensus, and shows that having a (directed) spanning tree is a necessary rather than a sufficient condition for consensus seeking with second‐ order dynamics.
Princeton University Press eBooksDistributed Control of Robotic Networks
1,465 Citations2009Francesco Bullo, Jorge Cortés +1 more
This self-contained introduction to the distributed control of robotic networks offers a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation.
Systems & Control LettersLeader-following consensus of multi-agent systems under fixed and switching topologies
1,455 Citations2010Wei Ni, Daizhan Cheng
The control of each agent using local information is designed and detailed analysis of the leader-following consensus is presented for both fixed and switching interaction topologies, which describe the information exchange between the multi-agent systems.
IEEE Transactions on Automatic ControlFlocking in Fixed and Switching Networks
1,421 Citations2007Herbert G. Tanner, Ali Jadbabaie +1 more
This note analyzes the stability properties of a group of mobile agents that align their velocity vectors, and stabilize their inter-agent distances, using decentralized, nearest-neighbor interaction rules, exchanging information over networks that change arbitrarily.
PROBLEMS IN DECENTRALIZED DECISION MAKING AND COMPUTATION
1,360 Citations1984Ιωάννης Τσιτσικλής
A scheme whereby a set of decision makers (processors) exchange and update tentative decisions which minimize a common cost function, given information they possess is considered; it is shown that they are guaranteed to converge to consensus.
Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)Virtual leaders, artificial potentials and coordinated control of groups
1,267 Citations2003Naomi Ehrich Leonard, E. Fiorelli
The approach provides a construction for a Lyapunov function to prove closed-loop stability using the system kinetic energy and the artificial potential energy to achieve asymptotic stability.
IEEE Transactions on Automatic ControlCooperative Control of Mobile Sensor Networks: Adaptive Gradient Climbing in a Distributed Environment
1,232 Citations2004Petter Ögren, E. Fiorelli +1 more
This work presents a stable control strategy for groups of vehicles to move and reconfigure cooperatively in response to a sensed, distributed environment and focuses on gradient climbing missions in which the mobile sensor network seeks out local maxima or minima in the environmental field.
IEEE Transactions on Automatic ControlFinite-Time Consensus Problems for Networks of Dynamic Agents
1,160 Citations2010Long Wang, Feng Xiao
It is proved that if the sum of time intervals, in which the interaction topology is connected, is sufficiently large, the proposed protocols will solve the finite-time consensus problems.
IEEE Transactions on Circuits and Systems I Fundamental Theory and ApplicationsSynchronization in scale-free dynamical networks: robustness and fragility
1,118 Citations2002Xiao Fan Wang, Guanrong Chen
It is shown that if the coupling strength of a scale-free dynamical network is greater than a positive threshold, then the network will synchronize no matter how large it is, which is robust against random removal of nodes, but is fragile to specific removal of the most highly connected nodes.
IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics
1,102 Citations2009Wenwu Yu, Guanrong Chen +2 more
To describe the system's ability for reaching consensus, a new concept about the generalized algebraic connectivity is defined for strongly connected networks and then extended to the strongly connected components of the directed network containing a spanning tree.
IEEE Transactions on Automatic ControlLarge-Population Cost-Coupled LQG Problems With Nonuniform Agents: Individual-Mass Behavior and Decentralized $\varepsilon$-Nash Equilibria
1,100 Citations2007Minyi Huang, Peter E. Caines +1 more
A state aggregation technique is developed to obtain a set of decentralized control laws for the individuals which possesses an epsiv-Nash equilibrium property and a stability property of the mass behavior is established.
Journal of Engineering MathematicsOn graphs and rigidity of plane skeletal structures
1,057 Citations1970G. Laman
IEEE Transactions on RoboticsConsensus-Based Decentralized Auctions for Robust Task Allocation
1,049 Citations2009Han‐Lim Choi, Luc Brunet +1 more
This paper addresses task allocation to coordinate a fleet of autonomous vehicles by presenting two decentralized algorithms: the consensus-based auction algorithm (CBAA) and its generalization to the multi-assignment problem, i.e., theensus-based bundle algorithm ( CBBA).
IEEE Transactions on Automatic ControlNecessary and sufficient graphical conditions for formation control of unicycles
1,045 Citations2005Zhiyun Lin, Brian Francis +1 more
It is proved that formation stabilization to a point is feasible if and only if the sensor digraph has a globally reachable node.
Distributed Kalman Filter with Embedded Consensus Filters
1,011 Citations2006Reza Olfati‐Saber
This paper shows that a central Kalman filter for sensor networks can be decomposed into n micro-Kalman filters with inputs that are provided by two types of consensus filters, and demonstrates that these filters can approximate these sums and give an approximate distributed Kalman filtering algorithm.
AutomaticaOn pinning synchronization of complex dynamical networks
1,010 Citations2008Wenwu Yu, Guanrong Chen +1 more
Surprisingly, it is found that a network under a typical framework can realize synchronization subject to any linear feedback pinning scheme by using adaptive tuning of the coupling strength.
Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles
1,005 Citations2009Zhihua Qu, Jing Wang +1 more
Consensus Filters for Sensor Networks and Distributed Sensor Fusion
979 Citations2006Reza Olfati‐Saber, Jeff S. Shamma
This paper introduces a distributed filter that allows the nodes of a sensor network to track the average of n sensor measurements using an average consensus based distributed filter called consensus filter.
Journal of the American Statistical AssociationReaching a Consensus
967 Citations1974Morris H. DeGroot
Journal of Dynamic Systems Measurement and ControlRecent Research in Cooperative Control of Multivehicle Systems
963 Citations2007Richard M. Murray
This paper presents a survey of recent research in cooperative control of multivehicle systems, using a common mathematical framework to allow different methods to be described in a unified way.
Communications and control engineering/Communications and control engineering seriesDistributed Coordination of Multi-agent Networks
948 Citations2010Wei Ren, Yongcan Cao
Proceedings of the IEEECollective Motion, Sensor Networks, and Ocean Sampling
939 Citations2007Naomi Ehrich Leonard, Derek A. Paley +4 more
This paper addresses the design of mobile sensor networks for optimal data collection by using a performance metric, used to derive optimal paths for the network of mobile sensors, to define the optimal data set.
IEEE Transactions on Automatic ControlFlocking of Multi-Agents With a Virtual Leader
926 Citations2009Housheng Su, Xiaofan Wang +1 more
This paper revisits the problem of multi-agent flocking in the absence of the above two assumptions and shows that, even when only a fraction of agents are informed, the Olfati-Saber flocking algorithm still enables all the informed agents to move with the desired constant velocity.
Distributed optimization in sensor networks
917 Citations2004Michael Rabbat, Robert D. Nowak
This paper investigates a general class of distributed algorithms for "in-network" data processing, eliminating the need to transmit raw data to a central point, and shows that for a broad class of estimation problems the distributed algorithms converge to within an /spl epsi/-ball around the globally optimal value.
AutomaticaFinite-time formation control for multi-agent systems
917 Citations2009Feng Xiao, Long Wang +2 more
A class of nonlinear consensus protocols is proposed, which ensures that the related states of all agents will reach an agreement in a finite time under suitable conditions, and it is shown that all agents will maintain the expected formation in a finite time.
AutomaticaA unified synchronization criterion for impulsive dynamical networks
909 Citations2010Jianquan Lu, Daniel W. C. Ho +1 more
A unified synchronization criterion is derived for directed impulsive dynamical networks by proposing a concept named ''average impulsive interval'' which is theoretically and numerically proved to be less conservative than existing results.
IEEE Transactions on RoboticsDistributed Coordination Control of Multiagent Systems While Preserving Connectedness
861 Citations2007Meng Ji, Magnus Egerstedt
By adding appropriate weights to the edges in the graphs, this paper guarantees that the graphs stay connected in the connectedness issue in multiagent coordination.
International Journal of Bifurcation and ChaosSYNCHRONIZATION IN SMALL-WORLD DYNAMICAL NETWORKS
857 Citations2002Xiao Fan Wang, Guanrong Chen
It is shown that, for any given coupling strength and a suciently large number of cells, the small-world dynamical network will synchronize, even if the original nearest-neighbor coupled network cannot achieve synchronization under the same condition.
AutomaticaFinite-time convergent gradient flows with applications to network consensus
797 Citations2006Jorge Cortés
The normalized and signed gradient dynamical systems associated with a differentiable function are characterized and their asymptotic convergence properties are identified and conditions that guarantee finite-time convergence are identified.
AutomaticaSynchronization in networks of identical linear systems
776 Citations2009Luca Scardovi, Rodolphe Sepulchre
The paper investigates the synchronization of a network of identical linear time-invariant state-space models under a possibly time-varying and directed interconnection structure and construction of a dynamic output feedback coupling achieves synchronization if the decoupled systems have no exponentially unstable mode and if the communication graph is uniformly connected.
Systems & Control LettersMulti-vehicle consensus with a time-varying reference state
769 Citations2007Wei Ren
This paper first analyzes a consensus algorithm with a constant reference state using graph theoretical tools, then proposes consensus algorithms with a time-varying reference state and shows necessary and sufficient conditions under which consensus is reached on the time-Varyingreference state.
AutomaticaQuantized consensus
751 Citations2007Akshay Kashyap, Tamer Başar +1 more
This work describes simple randomized distributed algorithms which achieve consensus to the extent that the discrete nature of the problem permits.
AutomaticaDistributed receding horizon control for multi-vehicle formation stabilization
751 Citations2006William B. Dunbar, Richard M. Murray
This work generates distributed optimal control problems for each subsystem and establishes that a distributed receding horizon control implementation is stabilizing to a neighborhood of the objective state.
IEEE Transactions on Automatic ControlNecessary and Sufficient Conditions for Consensusability of Linear Multi-Agent Systems
749 Citations2010Cui‐Qin Ma, Ji‐Feng Zhang
A necessary condition of consensusability with respect to a set of admissible consensus protocols is given and is shown, under some mild conditions, to be necessary and sufficient.
IEEE Transactions on Automatic ControlAsynchronous Consensus in Continuous-Time Multi-Agent Systems With Switching Topology and Time-Varying Delays
742 Citations2008Feng Xiao, Long Wang
The main contribution of this paper is to provide a valid distributed consensus algorithm that overcomes the difficulties caused by unreliable communication channels, such as intermittent information transmission, switching communication topology, and time-varying communication delays, and therefore has its obvious practical applications.
Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)Gossip Algorithms for Distributed Signal Processing
729 Citations2018Alexandros G. Dimakis, Soummya Kar +3 more
Proceedings of the IEEEGossip Algorithms for Distributed Signal Processing
716 Citations2010Alexandros G. Dimakis, Soummya Kar +3 more
An overview of recent gossip algorithms work, including convergence rate results, which are related to the number of transmitted messages and thus the amount of energy consumed in the network for gossiping, and the use of gossip algorithms for canonical signal processing tasks including distributed estimation, source localization, and compression.
IEEE Transactions on Automatic ControlOutput Consensus of Heterogeneous Uncertain Linear Multi-Agent Systems
706 Citations2010Hongkeun Kim, Hyungbo Shim +1 more
It is shown that the output consensus is reached if the (state) consensus is achieved within the internal models among the agent's controllers (even though the plant's outputs, rather than the internal model's outputs) are communicated.
IEEE Transactions on Automatic ControlAdaptive Synchronization of an Uncertain Complex Dynamical Network
663 Citations2006Jing Zhou, Jinhu Lü +1 more
This note further investigates the locally and globally adaptive synchronization of an uncertain complex dynamical network and designed adaptive controllers for network synchronization are designed.
AutomaticaDistributed adaptive control for synchronization of unknown nonlinear networked systems
658 Citations2010Abhijit Das, Frank L. Lewis
A Lyapunov technique is presented for designing a robust adaptive synchronization control protocol for distributed systems having non-identical unknown nonlinear dynamics, and for a target dynamics to be tracked that is also nonlinear and unknown.
IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)Decentralized Robust Adaptive Control for the Multiagent System Consensus Problem Using Neural Networks
644 Citations2009Zeng‐Guang Hou, Long Cheng +1 more
By the theoretical analysis, it is proved that the consensus error can be reduced as small as desired and the proposed method is extended to two cases: agents form a prescribed formation, and agents have the higher order dynamics.
Systems & Control LettersDistributed robust consensus control in directed networks of agents with time-delay
595 Citations2008Peng Lin, Yingmin Jia +1 more
This paper performs a model transformation and turns the original system into a reduced-order system, and presents conditions under which all agents reach consensus with the desired H ∞ performance.
IEEE Transactions on Automatic ControlConsensus of Multi-Agent Systems With Diverse Input and Communication Delays
588 Citations2008Yu‐Ping Tian, Cheng‐Lin Liu
The consensus problem for multi-agent systems with input and communication delays is studied based on the frequency-domain analysis and two decentralized consensus conditions are obtained.
Systems & Control LettersSecond-order leader-following consensus of nonlinear multi-agent systems via pinning control
587 Citations2010Qiang Song, Jinde Cao +1 more
This paper addresses what kind of agents and how many agents should be pinned, and establishes some sufficient conditions to guarantee that all agents asymptotically follow the virtual leader.
IEEE Transactions on Automatic ControlOn Maximizing the Second Smallest Eigenvalue of a State-Dependent Graph Laplacian
584 Citations2006Yoonsoo Kim, Mehran Mesbahi
The motivation in the present work is to "assign" this Laplacian eigenvalue when relative positions of various elements dictate the interconnection of the underlying weighted graph, so as to "synthesize" information graphs that have desirable system theoretic properties.
AutomaticaPinning adaptive synchronization of a general complex dynamical network
570 Citations2008Jin Zhou, Jun-an Lu +3 more
A simply approximate formula for estimating the detailed number of pinning nodes and the magnitude of the coupling strength for a given general complex dynamical network is provided.
2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)Agreement over random networks
568 Citations2004Naomichi Hatano, Mehran Mesbahi
IEEE Transactions on Automatic ControlDistributed Consensus With Limited Communication Data Rate
567 Citations2010Tao Li, Minyue Fu +2 more
It is proved that under the protocol designed, for a connected network, average consensus can be achieved with an exponential convergence rate based on merely one bit information exchange between each pair of adjacent agents at each time step.
IEEE Transactions on Automatic ControlDistributed Coordinated Tracking With Reduced Interaction via a Variable Structure Approach
559 Citations2011Yongcan Cao, Wei Ren
A distributed coordinated tracking problem is solved via a variable structure approach when there exists a dynamic virtual leader who is a neighbor of only a subset of a group of followers, all followers have only local interaction, and only partial measurements of the states of the virtual leader and the followers are available.
IEEE Transactions on Automatic ControlOn Distributed Averaging Algorithms and Quantization Effects
555 Citations2009A. Nedić, Alex Olshevsky +2 more
This work proposes and analyzes distributed averaging algorithms under the additional constraint that agents can only store and communicate quantized information, so that they can only converge to the average of the initial values of the agents within some error.
WORLD SCIENTIFIC eBooksSynchronization in Complex Networks of Nonlinear Dynamical Systems
545 Citations2007Chai Wah Wu
Graphs, Networks, Laplacian Matrices and Algebraic Connectivity Graph Models Synchronization in Networks of Nonlinear Continuous-Time Dynamical Systems Synchronized in networks of Coupled Discrete-Time systems Synchronizing in Network of Systems with Linear Dynamics Agreement and Consensus Problems in Groups of Interacting Agents.
IEEE Transactions on RoboticsCooperative Robot Control and Concurrent Synchronization of Lagrangian Systems
544 Citations2009Soon‐Jo Chung, Jean-Jacques Slotine
This work studies global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control and proposes a decentralized tracking control law that globally exponentially synchronizes an arbitrary number of robots.
AutomaticaAdaptive second-order consensus of networked mobile agents with nonlinear dynamics
541 Citations2010Housheng Su, Guanrong Chen +2 more
Under the assumption that the initial network is connected, this work introduces local adaptation strategies for both the weights on the velocity navigational feedback and the velocity coupling strengths that enable all agents to synchronize with the virtual leader even when only one agent is informed, without requiring any knowledge of the agent dynamics.
AutomaticaConsensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies
533 Citations2009Peng Lin, Yingmin Jia
It is shown that arbitrary bounded time-delays can safely be tolerated, even though the communication structures between agents dynamically change over time and the corresponding directed graphs may not have spanning trees.
AutomaticaSecond-order consensus in multi-agent dynamical systems with sampled position data
520 Citations2011Wenwu Yu, Wei Xing Zheng +3 more
It is found that second-order consensus in such a multi-agent system cannot be reached without any sampled position data under the given protocol while it can be achieved by appropriately choosing the sampling period.
IEEE Transactions on Automatic ControlStabilization of Planar Collective Motion: All-to-All Communication
511 Citations2007Rodolphe Sepulchre, Derek A. Paley +1 more
The results of the paper provide a low-order parametric family of stabilizable collectives that offer a set of primitives for the design of higher-level tasks at the group level.
SIAM Journal on Control and OptimizationState Agreement for Continuous‐Time Coupled Nonlinear Systems
511 Citations2007Zhiyun Lin, Bruce A. Francis +1 more
It is proved that asymptotic state agreement is achieved if and only if the dynamic interaction digraph has the property of being sufficiently connected over time.
IEEE Transactions on Automatic ControlAgreement over random networks
497 Citations2005Naomichi Hatano, Mehran Mesbahi
In a random network, the existence of an information channel between a pair of elements at each time instance is probabilistic and independent of other channels; hence, the topology of the network varies over time.
Systems & Control LettersCooperative distributed model predictive control
492 Citations2010Brett T. Stewart, Aswin N. Venkat +3 more
This paper establishes exponential stability of suboptimal model predictive control and shows that the proposed cooperative control strategy is in this class, and establishes that under perturbation from a stable state estimator, the origin remains exponentially stable.
Proceedings of the American Mathematical SocietyProducts of indecomposable, aperiodic, stochastic matrices
490 Citations1963J. Wolfowitz
IEEE Transactions on Automatic ControlOn the Rendezvous Problem for Multiple Nonholonomic Agents
488 Citations2007Dimos V. Dimarogonas, Kostas J. Kyriakopoulos
A decentralized feedback control strategy that drives a system of multiple nonholonomic unicycles to a rendezvous point in terms of both position and orientation is introduced.
AutomaticaDistributed tracking control of leader–follower multi-agent systems under noisy measurement
479 Citations2010Jiangping Hu, Gang Feng
It is shown that the closed loop tracking control system is stochastically stable in mean square and the estimation errors converge to zero in mean square as well.
IEEE Transactions on Automatic ControlSynchronization of Networks of Nonidentical Euler-Lagrange Systems With Uncertain Parameters and Communication Delays
479 Citations2011Emmanuel Nuño, Roméo Ortega +2 more
The main result of the paper is the construction of an adaptive controller that achieves global full-state synchronization, i.e., the difference between the agents positions and velocities asymptotically converges to zero.
AutomaticaDistributed algorithms for reaching consensus on general functions
471 Citations2007Jorge Cortés
This paper identifies a class of smooth functions for which one can synthesize in a systematic way distributed algorithms that achieve consensus, applies this result to the family of weighted power mean functions, and characterize the exponential convergence properties of the resulting algorithms.
IEEE Transactions on Automatic ControlA Distributed Control Approach to A Robust Output Regulation Problem for Multi-Agent Linear Systems
466 Citations2010Xiaoli Wang, Yiguang Hong +2 more
In this note, the robust output regulation problem of a multi-agent system is considered and an internal model based distributed control scheme is adopted to achieve the objectives of asymptotic tracking and disturbance rejection in an uncertain multi- agent system.
Systems & Control LettersAverage consensus in networks of dynamic agents with switching topologies and multiple time-varying delays
460 Citations2007Yuan Sun, Long Wang +1 more
By employing a linear matrix inequality method, it is proved that all the nodes in the network achieve average consensus asymptotically for appropriate communication delays if the network topology is connected.
IEEE Transactions on Automatic ControlStabilization of Planar Collective Motion With Limited Communication
457 Citations2008Rodolphe Sepulchre, Derek A. Paley +1 more
A design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed to show how previous results assuming all-to-all communication can be extended to a general communication framework.
ESAIM Control Optimisation and Calculus of VariationsSpatially-distributed coverage optimization and control with limited-range interactions
456 Citations2005Jorge Cortés, Sonia Martı́nez +1 more
AutomaticaMean square average-consensus under measurement noises and fixed topologies: Necessary and sufficient conditions
452 Citations2009Tao Li, Ji‐Feng Zhang
It is shown that under the protocol designed, all agents' states converge to a common Gaussian random variable, whose mathematical expectation is just the average of the initial states.
IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)Distributed Consensus Filtering in Sensor Networks
432 Citations2009Wenwu Yu, Guanrong Chen +2 more
In this paper, a new filtering problem for sensor networks is investigated, where each sensor can communicate with the neighboring sensors, and filtering can be performed in a distributed way.
IEEE Transactions on Automatic ControlA Necessary and Sufficient Condition for Consensus Over Random Networks
428 Citations2008Alireza Tahbaz-Salehi, Ali Jadbabaie
A necessary and sufficient condition for almost sure asymptotic consensus using simple ergodicity and probabilistic arguments is presented and this easily verifiable condition uses the spectrum of the average weight matrix.
IEEE Transactions on Automatic ControlOn Exponential Synchronization of Kuramoto Oscillators
418 Citations2009Nikhil Chopra, Mark W. Spong
A lower bound on the coupling gain is derived that is sufficient to guarantee oscillator synchronization and further sufficient conditions are derived to ensure exponential synchronization of the angular frequencies of all oscillators to the mean natural frequency of the group.
AutomaticaDecentralized estimation and control of graph connectivity for mobile sensor networks
415 Citations2009Panpan Yang, Randy A. Freeman +4 more
This paper describes a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph and proposes a decentralized gradient controller for eachAgent to maintain global connectivity during motion.
Systems & Control LettersDecentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking
401 Citations2010Yongcan Cao, Wei Ren +1 more
It is shown that formation tracking can be achieved for systems with both single-Integrator kinematics and double-integrator dynamics in finite time and can be easily decoupled into two subtasks, that is, decentralized sliding mode estimation and vehicle desired state tracking.
IEEE Transactions on Automatic ControlConsensus in Directed Networks of Agents With Nonlinear Dynamics
395 Citations2011Wenwu Yu, Guanrong Chen +1 more
This technical note studies the consensus problem for cooperative agents with nonlinear dynamics in a directed network through a combination of the tools of complex analysis, local consensus manifold approach, and Lyapunov methods.
IEEE Transactions on Automatic ControlConsensus of Multi-Agent Systems in Directed Networks With Nonuniform Time-Varying Delays
394 Citations2009Yuan Sun, Long Wang
A new approach based on a tree-type transformation to investigate consensus problems in all three cases of finite-time consensus in directed networks with dynamically changing topologies and nonuniform time-varying delays is proposed.
IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)Robust Global Exponential Synchronization of Uncertain Chaotic Delayed Neural Networks via Dual-Stage Impulsive Control
383 Citations2009Huaguang Zhang, Tiedong Ma +2 more
A novel impulsive control scheme (so-called dual-stage impulsiveControl) is proposed, based on the theory of impulsive functional differential equations, to guarantee that the synchronization error dynamics can converge to a predetermined level.
…