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41
Consensus and cooperation in networked multiagent systems
 Proceedings of the IEEE
, 2007
"... Summary. This paper provides a theoretical framework for analysis of consensus algorithms for multiagent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, timedelays, and performance guarantees. An ove ..."
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Cited by 807 (4 self)
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Summary. This paper provides a theoretical framework for analysis of consensus algorithms for multiagent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, timedelays, 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 smallworld networks, Markov processes and gossipbased 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 latticetype nearest neighbor interactions. Simulation results are presented that demonstrate the role of smallworld effects on the speed of consensus algorithms and cooperative control of multivehicle formations.
Distributed control of robotic networks: a mathematical approach to motion coordination algorithms
, 2009
"... (i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 ..."
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Cited by 41 (1 self)
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(i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 “Distributed Control of Robotic Networks ” by F. Bullo, J. Cortés and S. Martínez
Quantized average consensus via dynamic coding/decoding schemes
 International Journal of Robust and Nonlinear Control
"... Abstract — In the average consensus a set of linear systems has to be driven to the same final state which corresponds to the average of their initial states. This contribution presents a consensus strategy in which the systems can exchange information among themselves according to a fixed connected ..."
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Cited by 34 (4 self)
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Abstract — In the average consensus a set of linear systems has to be driven to the same final state which corresponds to the average of their initial states. This contribution presents a consensus strategy in which the systems can exchange information among themselves according to a fixed connected digital communication network. Beside the decentralized computational aspects induced by the choice of the communication network, we here have also to face the quantization effects due to the digital links. We here present and discuss two different encoding/decoding strategies with theoretical and simulation results on their performance. I.
On synchronous robotic networks – Part II: Time complexity of rendezvous and deployment algorithms
 IEEE Transactions on Automatic Control, Apr
"... This paper analyzes a number of basic coordination algorithms running on synchronous robotic networks. We provide upper and lower bounds on the time complexity of the movetoward average and circumcenter laws, both achieving rendezvous, and of the centroid law, achieving deployment over a region of ..."
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Cited by 29 (5 self)
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This paper analyzes a number of basic coordination algorithms running on synchronous robotic networks. We provide upper and lower bounds on the time complexity of the movetoward average and circumcenter laws, both achieving rendezvous, and of the centroid law, achieving deployment over a region of interest. The results are derived via novel analysis methods, including a set of results on the convergence rates of linear dynamical systems defined by tridiagonal Toeplitz and circulant matrices. I.
Distributed intrusion detection for secure consensus computations
 in IEEE Conf. on Decision and Control
, 2007
"... Abstract — This paper focuses on trustworthy computation systems and proposes a novel intrusion detection scheme for linear consensus networks with misbehaving nodes. This prototypical control problem is relevant in network security applications. The objective is for each node to detect and isolate ..."
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Cited by 21 (6 self)
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Abstract — This paper focuses on trustworthy computation systems and proposes a novel intrusion detection scheme for linear consensus networks with misbehaving nodes. This prototypical control problem is relevant in network security applications. The objective is for each node to detect and isolate the misbehaving nodes using only the information flow adopted by standard consensus protocols. We focus on the single misbehaving node problem. Our technical approach is based on the theory of Unknown Input Observability. First, we give necessary and sufficient conditions for the misbehavior to be observable and for the identity of the faulty node to be detectable. Second, we design a distributed unknown input estimator, and we characterize its convergence rate in the “equalneighbor ” model and in the general case. Third and finally, we propose a complete detection and isolation scheme and provide some remarks on the filter convergence time. We conclude the paper with the numerical study of a consensus problem and of a robotic deployment problem. I.
Arbitrary Pattern Formation by Asynchronous, Anonymous, Oblivious Robots
, 2008
"... From an engineering point of view, the problem of coordinating a set of autonomous, mobile robots for the purpose of cooperatively performing a task has been studied extensively over the past decade. In contrast, in this paper we aim at an understanding of the fundamental algorithmic limitations on ..."
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Cited by 20 (7 self)
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From an engineering point of view, the problem of coordinating a set of autonomous, mobile robots for the purpose of cooperatively performing a task has been studied extensively over the past decade. In contrast, in this paper we aim at an understanding of the fundamental algorithmic limitations on what a set of autonomous mobile robots can or cannot achieve. We therefore study a hard task for a set of weak robots. The task is for the robots in the plane to form any arbitrary pattern that is given in advance. This task is fundamental in the sense that if the robots can form any pattern, they can agree on their respective roles in a subsequent, coordinated action. The robots are weak in several aspects. They are anonymous; they cannot explicitly communicate with each other, but only observe the positions of the others; they cannot remember the past; they operate in a very strong form of asynchronicity. We show that the tasks that such a system of robots can perform depend strongly on their common agreement about their environment, i.e., the readings of their environment sensors. If the robots have no common agreement about their environment, they cannot form an arbitrary pattern. If each robot has a compass needle that indicates North (the robot world is a flat surface, and compass needles are parallel), then any odd number of robots can form an arbitrary pattern, but an even number cannot (in the worst case). If each robot has two independent compass needles, say North and East, then any set of robots can form any pattern.
Distributed Anonymous Discrete Function Computation
"... Abstract—We propose a model for deterministic distributed function computation by a network of identical and anonymous nodes. In this model, each node has bounded computation and storage capabilities that do not grow with the network size. Furthermore, each node only knows its neighbors, not the ent ..."
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Cited by 18 (3 self)
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Abstract—We propose a model for deterministic distributed function computation by a network of identical and anonymous nodes. In this model, each node has bounded computation and storage capabilities that do not grow with the network size. Furthermore, each node only knows its neighbors, not the entire graph. Our goal is to characterize the class of functions that can be computed within this model. In our main result, we provide a necessary condition for computability which we show to be nearly sufficient, in the sense that every function that violates this condition can at least be approximated. The problem of computing (suitably rounded) averages in a distributed manner plays a central role in our development; we provide an algorithm that solves it in time that grows quadratically with the size of the network. Index Terms—Averaging algorithms, distributed computing, distributed control. I.
2007] Quantized coordination algorithms for rendezvous and deployment
 SIAM Journal on Control and Optimization, submitted
"... Abstract. In this paper we study motion coordination problems for groups of robots that exchange information through a rateconstrained communication network. For rendezvous and deployment problems, we propose an integrated control and communication scheme combining a logarithmic coder/decoder with ..."
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Cited by 17 (5 self)
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Abstract. In this paper we study motion coordination problems for groups of robots that exchange information through a rateconstrained communication network. For rendezvous and deployment problems, we propose an integrated control and communication scheme combining a logarithmic coder/decoder with linear coordination algorithms. We show that the closedloop performance is comparable to the one achievable in the quantizationfree model: the time complexity is unchanged and the exponential convergence factor degrades smoothly as the quantization accuracy becomes coarser. 1. Introduction. Problem description and motivation. This work focuses on robotic coordination problems among robots that communicate through reliable digital channels, i.e., robots connected by a datarate constrained network. The problem is motivated by the rising importance of robotic network technologies and the scientific interest in
Opinion dynamics in heterogeneous networks: convergence conjectures and theorems
 SIAM Journal on Control and Optimization
, 2012
"... Abstract. Recently, significant attention has been dedicated to the models of opinion dynamics in which opinions are described by real numbers, and agents update their opinions synchronously by averaging their neighbors ’ opinions. The neighbors of each agent can be defined as either (1) those agent ..."
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Cited by 13 (3 self)
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Abstract. Recently, significant attention has been dedicated to the models of opinion dynamics in which opinions are described by real numbers, and agents update their opinions synchronously by averaging their neighbors ’ opinions. The neighbors of each agent can be defined as either (1) those agents whose opinions are in its “confidence range, ” or (2) those agents whose “influence range” contain the agent’s opinion. The former definition is employed in Hegselmann and Krause’s bounded confidence model, and the latter is novel here. As the confidence and influence ranges are distinct for each agent, the heterogeneous statedependent interconnection topology leads to a poorlyunderstood complex dynamic behavior. In both models, we classify the agents via their interconnection topology and, accordingly, compute the equilibria of the system. Then, we define a positive invariant set centered at each equilibrium opinion vector. We show that if a trajectory enters one such set, then it converges to a steady state with constant interconnection topology. This result gives us a novel sufficient condition for both models to establish convergence, and is consistent with our conjecture that all trajectories of the bounded confidence and influence models eventually converge to a steady state under fixed topology.