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Consensus Seeking in Multi-agent Systems under Dynamically Changing Interaction Topologies (2003)
| Citations: | 401 - 34 self |
BibTeX
@MISC{Ren03consensusseeking,
author = {Wei Ren and Randal W. Beard},
title = {Consensus Seeking in Multi-agent Systems under Dynamically Changing Interaction Topologies},
year = {2003}
}
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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. The note shows that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs across some time intervals has a spanning tree frequently enough as the system evolves. Simulation results show the effectiveness of our update schemes.
