In this paper, we discuss consensus problems for a network of dynamic agents with fixed and switching topologies. We analyze three cases: i) networks with switching topology and no time-delays, ii) networks with fixed topology and communication time-delays, and iii) max-consensus problems (or leader determination) for groups of discrete-time agents. In each case, we introduce a linear/nonlinear consensus protocol and provide convergence analysis for the proposed distributed algorithm. Moreover, we establish a connection between the Fiedler eigenvalue of the information flow in a network (i.e. algebraic connectivity of the network) and the negotiation speed (or performance) of the corresponding agreement protocol. It turns out that balanced digraphs play an important role in addressing average-consensus problems. We introduce disagreement functions that play the role of Lyapunov functions in convergence analysis of consensus protocols. 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.

Contents 1 The Magical Mystery Tour 7 1.1 Some Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.1.1 Hardness results for linear transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.1.2 Error Correcting Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.1.3 De-randomizing Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.2 Magical Graphs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.2.1 A Super Concentrator with O(n) edges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.2.2 Error Correcting Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.2.3 De-randomizing Random Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.3 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Submitted to the IEEE Transactions on Automatic Control Technical Report CIT-CDS 2004-005 In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms. Two cases of flocking in free-space and presence of multiple obstacles are considered. We present three flocking algorithms: two for free-flocking and one for constrained flocking. A comprehensive analysis of the first two algorithms is provided. We demonstrate the first algorithm embodies all three rules of Reynolds. This is a formal approach to extraction of interaction rules that lead to the emergence of collective behavior. We show that the first algorithm generically leads to regular fragmentation, whereas the second and third algorithms both lead to flocking. A systematic method is provided for construction of cost functions (or collective potentials) for flocking. These collective potentials penalize deviation from a class of lattice-shape objects called α-lattices. We use a multi-species framework for construction of collective potentials that consist of flock-members, or α-agents, and virtual agents associated with α-agents called β- and γ-agents. We show that the tracking/migration problem for flocks can be solved using an algorithm with a peer-to-peer architecture. Each node (or macro-agent) of this peer-to-peer network is the aggregation of all three species of agents. The implication of this fact is that “flocks

Control of vehicle formations has emerged as a topic of significant interest to the controls community. In this paper, we merge tools from graph theory and control theory to derive stability criteria for formation stabilization. The interconnection between vehicles (i.e., which vehicles are sensed by other vehicles) is modeled as a graph, and the eigenvalues of the Laplacian matrix of the graph are used in stating a Nyquist-like stability criterion for vehicle formations. The location of the Laplacian eigenvalues can be correlated to the graph structure, and therefore used to identify desirable and undesirable formation interconnection topologies.

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A formula (in conjunctive normal form) is said to be minimal unsatisfiable if it is unsatisfiable and deleting any clause makes it satisfiable. The deficiency of a formula is the difference of the number of clauses and the number of variables. It is known that every minimal unsatisfiable formula has positive deficiency. Until recently, polynomial–time algorithms were known to recognize minimal unsatisfiable formulas with deficiency 1 and 2. We state an algorithm which recognizes minimal unsatisfiable formulas with any fixed deficiency in polynomial time.

In this paper, we provide tools for convergence and performance analysis of an agreement protocol for a network of integrator agents with directed information ow. Moreover, we analyze algorithmic robustness of this consensus protocol for the case of a network with mobile nodes and switching topology. We establish a connection between the Fiedler eigenvalue of the graph Laplacian and the performance of this agreement protocol. We demostrate that a class of directed graphs, called balanced graphs, have a crucial role in solving average-consensus problems. Based on the properties of balanced graphs, a group disagreement function (i.e. Lyapunov function) is proposed for convergence analysis of this agreement protocol for networks with directed graphs. This group disagreement function is later used for convergence analysis for the agreement problem in networks with switching topology. We provide simulation results that are consistent with our theoretical results and demonstrate the eectiveness of the proposed analytical tools.

This paper presents a new modelling technique capable of modelling both control and data information using a single unified approach. This is achieved by modifying the classical Petri Net structure, allowing it to have two types of transitions and arcs. As a consequence, loops and conditional operations within complex specifications are easily identified. The system dynamic behaviour is modelled using a new marking scheme of the net consisting of a new element called value for data representation in addition to classical tokens used for control purpose. Structural definitions, behavioural rules and graphical representation of the new modelling technique are given. One potential application of the proposed modelling technique is the internal representation of embedded systems specification. Two examples are included illustrating the applicability and efficiency of the proposed modelling technique. 1.

Besides the very successful concept of tree-width (see [Bodlaender, H. and Koster, A. (2007) Combinatorial optimisation on graphs of bounded treewidth. These are special issues on Parameterized Complexity]), many concepts and parameters measuring the similarity or dissimilarity of structures compared to trees have been born and studied over the past years. These concepts and parameters have proved to be useful tools in many applications, especially in the design of efficient algorithms. Our presented novel look at the contemporary developments of these ‘width ’ parameters in combinatorial structures delivers—besides traditional tree-width and derived dynamic programming schemes—also a number of other useful parameters like branch-width, rank-width (clique-width) or hypertree-width. In this contribution, we demonstrate how ‘width ’ parameters of graphs and generalized structures (such as matroids or hypergraphs), can be used to improve the design of parameterized algorithms and the structural analysis in other applications on an abstract level.

Approximation algorithms and parameterized complexity are usually considered to be two separate ways of dealing with hard algorithmic problems. In this paper, our aim is to investigate how these two fields can be combined to achieve better algorithms than what any of the two theories could offer. We discuss the different ways parameterized complexity can be extended to approximation algorithms, survey results of this type and propose directions for future research. 1.