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46
An overview of recent progress in the study of distributed multiagent coordination
, 2012
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Convergence of typesymmetric and cutbalanced consensus seeking systems (extended version)
, 1102
"... Abstract—We consider continuoustime consensus seeking systems whose timedependent interactions are cutbalanced, in the following sense: if a group of agents influences the remaining ones, the former group is also influenced by the remaining ones by at least a proportional amount. Models involving ..."
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Cited by 29 (7 self)
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Abstract—We consider continuoustime consensus seeking systems whose timedependent interactions are cutbalanced, in the following sense: if a group of agents influences the remaining ones, the former group is also influenced by the remaining ones by at least a proportional amount. Models involving symmetric interconnections and models in which a weighted average of the agent values is conserved are special cases. We prove that such systems always converge. We give a sufficient condition on the evolving interaction topology for the limit values of two agents to be the same. Conversely, we show that if our condition is not satisfied, then these limits are generically different. These results allow treating systems where the agent interactions are a priori unknown, e.g., random or determined endogenously by the agent values. We also derive corresponding results for discretetime systems. I.
Analysis and synthesis of Markov jump linear systems with timevarying delays and partially known transition probabilities
 IEEE Trans. Autom. Control
, 2008
"... with timevarying delays and partially known transition probabilities ..."
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Cited by 21 (1 self)
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with timevarying delays and partially known transition probabilities
Decentralized finitetime sliding mode estimators and their applications in decentralized finitetime formation tracking
 Systems & Control Letters
, 2010
"... AbstractIn this paper, a simple but efficient framework is proposed to achieve finitetime decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both firstorder and secondorder decentralized sl ..."
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Cited by 12 (2 self)
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AbstractIn this paper, a simple but efficient framework is proposed to achieve finitetime decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both firstorder and secondorder decentralized sliding mode estimators. In particular, we show that the proposed firstorder decentralized sliding mode estimator can guarantee accurate position estimation in finite time and the proposed secondorder decentralized sliding mode estimator can guarantee accurate position and velocity estimation in finite time. Then the decentralized sliding mode estimators are employed to achieve decentralized formation tracking of multiple autonomous vehicles. In particular, it is shown that formation tracking can be achieved for systems with both singleintegrator kinematics and doubleintegrator dynamics in finite time. Because accurate estimation can be achieved in finite time by using the decentralized sliding mode estimators, many formation tracking/flying scenarios can be easily decoupled into two subtasks, that is, decentralized sliding mode estimation and vehicle desired state tracking, without imposing a stringent condition on the information flow.
Consensus of discretetime multiagent systems with nonlinear local rules and timevarying delays,
 Proc. the 48th IEEE Conf. Decision Contr. and Chin. Contr. Conf.
, 2009
"... AbstractIn a multiagent system (MAS), the agents are often considered to be autonomous entities, such as robots or software programs, each under the influence of a local rule, representing its interaction with other agents. Over the past few years, most research in the study of discretetime MAS& ..."
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Cited by 10 (3 self)
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AbstractIn a multiagent system (MAS), the agents are often considered to be autonomous entities, such as robots or software programs, each under the influence of a local rule, representing its interaction with other agents. Over the past few years, most research in the study of discretetime MAS's concentrates on linear local rules. However, local interactions between agents are more likely to be governed by nonlinear rules with timevarying delays. This paper investigates the consensus of discretetime MAS's with nonlinear local rules and timevarying delays. Based on a representative model, we obtain some basic criteria for the consensus of such MAS's. These results cover several existing results as special cases. Moreover, the above criteria are applied to the consensus of the classical Vicsek model with timevarying delays. Simulation results are presented to validate the obtained criteria.
Event based agreement protocols for multiagent networks
 Automatica
, 2013
"... a b s t r a c t This paper considers an average consensus problem for multiple integrators over fixed, or switching, undirected and connected network topologies. Event based control is used on each agent to drive the state to their initial average eventually. An event triggering scheme is designed ..."
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Cited by 8 (1 self)
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a b s t r a c t This paper considers an average consensus problem for multiple integrators over fixed, or switching, undirected and connected network topologies. Event based control is used on each agent to drive the state to their initial average eventually. An event triggering scheme is designed based on a quadratic Lyapunov function. The derivative of the Lyapunov function is made negative by an appropriate choice of the event condition for each agent. The event condition is sampleddata and distributed in the sense that the event detector uses only neighbor information and local computation at discrete sampling instants. The event based protocol design is illustrated with simulations.
Distributed containment control for multiple autonomous vehicles with doubleintegrator dynamics: algorithms and experiments
 IEEE Transactions on Control Systems Technology
, 2011
"... Abstract—This brief studies distributed containment control for doubleintegrator dynamics in the presence of both stationary and dynamic leaders. In the case of stationary leaders, we propose a distributed containment control algorithm and study conditions on the network topology and the control ga ..."
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Cited by 8 (2 self)
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Abstract—This brief studies distributed containment control for doubleintegrator dynamics in the presence of both stationary and dynamic leaders. In the case of stationary leaders, we propose a distributed containment control algorithm and study conditions on the network topology and the control gains to guarantee asymptotic containment control in any dimensional space. In the case of dynamic leaders, we study two cases: leaders with an identical velocity and leaders with nonidentical velocities. For the first case, we propose two distributed containment control algorithms to solve, respectively, asymptotic containment control under a switching directed network topology and finitetime containment control under a fixed directed network topology. In particular, asymptotic containment control can be achieved for any dimensional space if the network topology is fixed and for only the 1D space if the network topology is switching. For the second case, we propose a distributed containment control algorithm under a fixed network topology where the communication patterns among the followers are undirected and derive conditions on the network topology and the control gains to guarantee asymptotic containment control for any dimensional space. Both simulation results and experimental results on a multirobot platform are provided to validate some theoretical results. Index Terms—Consensus, Containment control, cooperative control, multiagent systems.
Reaching an optimal consensus: dynamical systems that compute intersections of convex sets
 IEEE Transactions on Automatic Control
, 2013
"... In this paper, multiagent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuoustime dynamics with timevarying interconnection topologies. Assuming that each node can observe a convex solution set of its optimization ..."
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Cited by 7 (3 self)
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In this paper, multiagent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuoustime dynamics with timevarying interconnection topologies. Assuming that each node can observe a convex solution set of its optimization component, and the intersection of all such sets is nonempty, the considered optimization problem is converted to an intersection computation problem. By a simple distributed control rule, the considered multiagent system with continuoustime dynamics achieves not only a consensus, but also an optimal agreement within the optimal solution set of the overall optimization objective. Directed and bidirectional communications are studied, respectively, and connectivity conditions are given to ensure a global optimal consensus. In this way, the corresponding intersection computation problem is solved by the proposed decentralized continuoustime algorithm. We establish several important properties of the distance functions with respect to the global optimal solution set and a class of invariant
Distributed backstepping control of multiple thrustpropelled vehicles on balanced graph
 Eberhard Karls University (Tübingen, Germany) since
, 2012
"... Abstract: We propose novel distributed exponentiallyconverging control frameworks for flocking and centroid trajectory tracking of multiple thrustpropelled vehicles (TPVs), which consist of the underactuated translation dynamics on E(3) with onedimensional thrustforce input and the fullyactuat ..."
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Cited by 6 (2 self)
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Abstract: We propose novel distributed exponentiallyconverging control frameworks for flocking and centroid trajectory tracking of multiple thrustpropelled vehicles (TPVs), which consist of the underactuated translation dynamics on E(3) with onedimensional thrustforce input and the fullyactuated attitude kinematics on SO(3) with angularrates inputs; and evolves on a stronglyconnected, yet, balanced information graph G. To address the issue of underactuation, we utilize the backstepping technique; and, to decentralize the backstepping control over the balanced graph, we extend/generalize the (passive) decomposition of [15].
Randomized optimal consensus of multiagent systems
 Automatica
, 2012
"... a b s t r a c t In this paper, we formulate and solve a randomized optimal consensus problem for multiagent systems with stochastically timevarying interconnection topology. The considered multiagent system with a simple randomized iterating rule achieves an almost sure consensus meanwhile solvi ..."
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Cited by 6 (4 self)
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a b s t r a c t In this paper, we formulate and solve a randomized optimal consensus problem for multiagent systems with stochastically timevarying interconnection topology. The considered multiagent system with a simple randomized iterating rule achieves an almost sure consensus meanwhile solving the optimization problem min z∈R d , in which the optimal solution set of objective function f i can only be observed by agent i itself. At each time step, simply determined by a Bernoulli trial, each agent independently and randomly chooses either taking an average among its neighbor set, or projecting onto the optimal solution set of its own optimization component. Both directed and bidirectional communication graphs are studied. Connectivity conditions are proposed to guarantee an optimal consensus almost surely with proper convexity and intersection assumptions. The convergence analysis is carried out using convex analysis. We compare the randomized algorithm with the deterministic one via a numerical example. The results illustrate that a group of autonomous agents can reach an optimal opinion by each node simply making a randomized tradeoff between following its neighbors or sticking to its own opinion at each time step.