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137
Cooperative control and potential game
 IEEE Trans. Syst., Man, Cybern. B
, 2009
"... Abstract—We present a view of cooperative control using the language of learning in games. We review the gametheoretic concepts of potential and weakly acyclic games, and demonstrate how several cooperative control problems, such as consensus and dynamic sensor coverage, can be formulated in these ..."
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Cited by 32 (6 self)
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Abstract—We present a view of cooperative control using the language of learning in games. We review the gametheoretic concepts of potential and weakly acyclic games, and demonstrate how several cooperative control problems, such as consensus and dynamic sensor coverage, can be formulated in these settings. Motivated by this connection, we build upon gametheoretic concepts to better accommodate a broader class of cooperative control problems. In particular, we extend existing learning algorithms to accommodate restricted action sets caused by the limitations of agent capabilities and groupbased decision making. Furthermore, we also introduce a new class of games called sometimes weakly acyclic games for timevarying objective functions and action sets, and provide distributed algorithms for convergence to an equilibrium. Index Terms—Cooperative control, game theory, learning in games, multiagent systems. I.
Connectedness Preserving Distributed Swarm Aggregation for Multiple Kinematic Robots
 IEEE TRANSACTIONS ON ROBOTICS
"... A distributed swarm aggregation algorithm is developed for a team of multiple kinematic agents. Specifically, each agent is assigned with a control law which is the sum of two elements: a repulsive potential field, which is responsible for the collision avoidance objective, and an attractive poten ..."
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Cited by 30 (4 self)
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A distributed swarm aggregation algorithm is developed for a team of multiple kinematic agents. Specifically, each agent is assigned with a control law which is the sum of two elements: a repulsive potential field, which is responsible for the collision avoidance objective, and an attractive potential field, that forces the agents to converge to a configuration where they are close to each other. Furthermore, the attractive potential field forces the agents that are initially located within the sensing radius of an agent to remain within this area for all time. In this way, the connectivity properties of the initially formed communication graph are rendered invariant for the trajectories of the closedloop system. It is shown that under the proposed control law agents converge to a configuration where each agent is located at a bounded distance from each of its neighbors. The results are also extended to the case of nonholonomic kinematic unicycletype agents and to the case of dynamic edge addition. In the latter case, we derive a smaller bound in the swarm size than in the static case.
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.
Contraction Analysis of TimeDelayed Communications Using Simplified Wave Variables
 PS/0512070
, 2005
"... We study stability of interacting nonlinear systems with timedelayed communications, using contraction theory and a simplified wave variable design inspired by robotic teleoperation. We show that contraction is preserved through specific timedelayed feedback communications, and that this property ..."
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Cited by 29 (6 self)
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We study stability of interacting nonlinear systems with timedelayed communications, using contraction theory and a simplified wave variable design inspired by robotic teleoperation. We show that contraction is preserved through specific timedelayed feedback communications, and that this property is independent of the values of the delays. The approach is then applied to group cooperation with linear protocols, where it shown that synchronization can be made robust to arbitrary time delays. 1
Synchronization and balancing on the Ntorus
 Systems and Control Letters
"... In this paper, we study the behavior of a network of N agents, each evolving on the circle. We propose a novel algorithm that achieves synchronization or balancing in phase models under mild connectedness assumptions on the (possibly timevarying and unidirectional) communication graphs. The global ..."
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Cited by 28 (12 self)
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In this paper, we study the behavior of a network of N agents, each evolving on the circle. We propose a novel algorithm that achieves synchronization or balancing in phase models under mild connectedness assumptions on the (possibly timevarying and unidirectional) communication graphs. The global convergence analysis on the Ntorus is a distinctive feature of the present work with respect to previous results that have focused on convergence in the Euclidean space.
Information Consensus of Asynchronous Discretetime Multiagent Systems
, 2005
"... This paper studies the consensus problem of multiagent systems in an asynchronous framework. Under certain assumptions, the consensus protocol leads to stable behaviors even if the updating instants and sets of the agents are asynchronously determined. The model of asynchronous multiagent systems ..."
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Cited by 26 (1 self)
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This paper studies the consensus problem of multiagent systems in an asynchronous framework. Under certain assumptions, the consensus protocol leads to stable behaviors even if the updating instants and sets of the agents are asynchronously determined. The model of asynchronous multiagent systems encompasses those synchronous ones with various communication patterns, i.e., issues of directional, delayed, or failed communication can be addressed in the same framework. The asynchronous results in this paper thus shed new light on the synchronous results reported in the literature. In particular, synchronous protocols under dynamically changing interaction topologies can be seen as a special case of the asynchronous protocol where all communication delays are zero.
Agreement with NonUniform Information Delays
, 2006
"... We propose a novel agreement framework for multiple (possibly heterogeneous) agents evolving on a directed information graph with nonuniform delays. Our proposed framework can ensure agreement of a certain scalar quantity among the agents, as long as 1) for each agent, we can design a local contr ..."
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Cited by 24 (2 self)
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We propose a novel agreement framework for multiple (possibly heterogeneous) agents evolving on a directed information graph with nonuniform delays. Our proposed framework can ensure agreement of a certain scalar quantity among the agents, as long as 1) for each agent, we can design a local control s.t. its closedloop transfer function has unit gain at dc and gain strictly less than unity elsewhere; 2) the information graph has a globally reachable node (i.e. there exists a path from it to every other nodes); and 3) the information delays are finite constants. Rendezvous simulation is performed to verify the theory.
Average TimeSynch: a consensusbased protocol for clock synchronization in wireless sensor networks
, 2011
"... This paper describes a new consensusbased protocol, referred to as Average TimeSync (ATS), for synchronizing the clocks of a wireless sensor network. This algorithm is based on a cascade of two consensus algorithms, whose main task is to average local information. The proposed algorithm has the adv ..."
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Cited by 24 (1 self)
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This paper describes a new consensusbased protocol, referred to as Average TimeSync (ATS), for synchronizing the clocks of a wireless sensor network. This algorithm is based on a cascade of two consensus algorithms, whose main task is to average local information. The proposed algorithm has the advantage of being totally distributed, asynchronous, robust to packet drop and sensor node failure, and it is adaptive to timevarying clock drifts and changes of the communication topology. In particular, a rigorous proof of convergence to global synchronization is provided in the absence of process and measurement noise and of communication delay. Moreover, its effectiveness is shown through a number of experiments performed on a real wireless sensor network.