Experimental Validation of Consensus Algorithms for Multivehicle Cooperative Control

Ren, Wei; Huo, Chao; Bourgeous, W.; Sorensen, N.; Chen, YangQuan

doi:10.1109/tcst.2007.912239

Cited by 81 publications

(6 citation statements)

References 36 publications

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“…A standard special case of unanimity is given by the consensus problem [36], in which all agents are required to converge to the same value. Given a signed adjacency matrix A ∈ R n×n , let us define the Laplacian of A as the matrix L ∈ R n×n of entries…”

Section: A Consensus For Eventually Positive Adjacency Matricesmentioning

confidence: 99%

“…If we think of a distributed control problem on Γ(A) for the system (16), then L can be intended as obtained by choosing [36], or, in matrix form,…”

Section: A Consensus For Eventually Positive Adjacency Matricesmentioning

confidence: 99%

“…For linear models, convergence to these two orthants is naturally associated to the Perron-Frobenius theorem, in which the eigenvector associated to the dominant eigenvalue (the spectral radius) is positive and hence all trajectories tend to align themselves along it. In fact, the Perron-Frobenius condition is for example at the basis of the literature on the consensus problem [28], [36], in which all agents are asked to converge to the same value, hence to a specific point in R n + or R n − . Our concept of unanimity is more flexible and asks only for a consensus on the signs of the opinions, meaning that any state in R n + or R n − still represents an unanimous opinion (although some agents will be "more convinced" than others).…”

Section: Introductionmentioning

confidence: 99%

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Predictable Dynamics of Opinion Forming for Networks With Antagonistic Interactions

Altafini

Lini

2015

IEEE Trans. Automat. Contr.

203

123

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Abstract-For communities of agents which are not necessarily cooperating, distributed processes of opinion forming are naturally represented by signed graphs, with positive edges representing friendly and cooperative interactions and negative edges the corresponding antagonistic counterpart. Unlike for nonnegative graphs, the outcome of a dynamical system evolving on a signed graph is not obvious and it is in general difficult to characterize, even when the dynamics are linear. In this paper we identify a significant class of signed graphs for which the linear dynamics are however predictable and show many analogies with positive dynamical systems. These cases correspond to adjacency matrices that are eventually positive, for which the PerronFrobenius property still holds and implies the existence of an invariant cone contained inside the positive orthant. As examples of applications, we determine cases in which it is possible to anticipate or impose unanimity of opinion in decision/voting processes even in presence of stubborn agents, and show how it is possible to extend the PageRank algorithm to include negative links.

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Section: A Consensus For Eventually Positive Adjacency Matricesmentioning

confidence: 99%

“…If we think of a distributed control problem on Γ(A) for the system (16), then L can be intended as obtained by choosing [36], or, in matrix form,…”

Section: A Consensus For Eventually Positive Adjacency Matricesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Predictable Dynamics of Opinion Forming for Networks With Antagonistic Interactions

Altafini

Lini

2015

IEEE Trans. Automat. Contr.

203

123

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show abstract

“…In recent years, multi-agent systems has attracted considerable attentions for its extensive engineering applications in unmanned aerial vehicles and satellite formation, distributed robotics and wireless sensor networks [1]- [3]. Consensus problem of multi-agent system is an important and fundamental problem, whose essential task is to design a distributed controller based on the interaction with neighbor agents such that all agents achieve an agreement.…”

Section: Introductionmentioning

confidence: 99%

Distributed mean-square consensus of heterogeneous multi-agent systems with packet losses

Zhang

Wang

Zhang

2023

Preprint

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This paper studies the mean-square consensus problem of discrete-time multi-agent systems, where the state information is received with different uncertainty of dropout which leads to the heterogeneous observation. Different from previous consensus studies without considering measurement packet dropout, the main difficulties encountered in this paper are the controller design for each agent with different dynamics and the state estimator design of stochastic systems with multiplicative noises. First of all, the optimal estimator is designed based on the measurement to estimate the agent’s state information, and a distributed dynamic output feedback control protocol is presented based on the obtained estimator. Secondly, applying the distributed feedforward control method and constructing the stochastic Lyapunov-Krasovskii functional, the sufficient solvability conditions for heterogeneous multi-agent systems achieving mean-square consensus is derived for the first time. Moreover, the stability of the error covariance matrices related with the optimal estimator is studied. Finally, a numerical example is provided to illustrate the effectiveness of the proposed algorithm.

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“…[39] Experimental implements of consensus under directed, possibly switching interaction topologies with a real multi-robot system is given in Ref. [40]. A review of consensus algorithms can be found in Ref.…”

Section: Introductionmentioning

confidence: 99%

Convergence speed of consensus problems over undirected scale-free networks

Sun¹,

Dou²

2010

Chinese Phys. B

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Scale-free networks and consensus behaviour among multiple agents have both attracted much attention. To investigate the consensus speed over scale-free networks is the major topic of the present work. A novel method is developed to construct scale-free networks due to their remarkable power-law degree distributions, while preserving the diversity of network topologies. The time cost or iterations for networks to reach a certain level of consensus is discussed, considering the influence from power-law parameters. They are both demonstrated to be reversed power-law functions of the algebraic connectivity, which is viewed as a measurement on convergence speed of the consensus behaviour. The attempts of tuning power-law parameters may speed up the consensus procedure, but it could also make the network less robust over time delay at the same time. Large scale of simulations are supportive to the conclusions.

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Experimental Validation of Consensus Algorithms for Multivehicle Cooperative Control

Cited by 81 publications

References 36 publications

Predictable Dynamics of Opinion Forming for Networks With Antagonistic Interactions

Predictable Dynamics of Opinion Forming for Networks With Antagonistic Interactions

Distributed mean-square consensus of heterogeneous multi-agent systems with packet losses

Convergence speed of consensus problems over undirected scale-free networks

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