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...cted several researchers in recent years. This is partly due to broad applications of multiagent systems in many areas including cooperative control of unmanned air vehicles (UAVs), formation control =-=[1]-=-–[5], flocking [6]–[8], distributed sensor networks [9], attitude alignment of clusters of satellites, and congestion control in communication networks [10]. Consensus problems have a long history in ...

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... The theoretical framework for posing and solving consensus problems for networked dynamic systems was introduced by Olfati-Saber and Murray in [76, 70] building on the earlier work of Fax and Murray =-=[27, 28]-=-. The study of the alignment problem involving reaching an agreement—without computing any objective functions—appeared in the work of Jadbabaie et al. [38]. Further theoretical extensions of this wor...

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...g. These phenomena do not constitute flocking in the sense described in Section 9. Some past research with strong connections to this paper include the work by the following researchers: Fax & Murray =-=[9]-=- used graph Laplacians for multi-vehicle formation stabilization; Mesbahi [23, 24] emphasized the role of state-dependent graphs in information networks (interestingly, “dynamic flocks” turn out to be...

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...f the associated graph, appear to be very usetiff in the convergence analysis of consensus protocols [31]. The graph Laplacian has also been used in control of distributed dynamic systems (see, e.g., =-=[12, 13, 24]-=-). The FDLA problem (4) is closely related to the problem of finding the fastest mixing Markov chain on a graph [8]; the only difference is that in the FDLA problem, the weights can be (and the optima...

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...iety of ways. For example, relative position sensors may enable vehicles to construct state information for other vehicles [1], knowledge may be communicated between vehicles using a wireless network =-=[2]-=-, or joint knowledge might be pre-programmed into the vehicles before a mission begins [3]. For cooperative control strategies to be effective, a team of agents must be able to respond to unanticipate...

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...s in the coupling topology. This means that, typically, we are considering leaderless coordination rather than a leader-follower approach. (Leaderless coordination is also considered, for example, in =-=[28, 29, 30, 31, 32]-=-). Finally, we allow for time-dependent communication patterns which are important if we want to take into account link failure and link creation, reconfigurable networks and nearest neighbor coupling...

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... or templates [7], [12]. Graphs have also been used to capture the interconnection topology in a formation [13], [14] and reflect control structure [15], constraint feasibility [16], information flow =-=[17]-=-, and error propagation [18]. These graphs can have undirected edges, when the latter model position constraints [13], [14], or directed for the case of information flow [17] or leader following inter...