#### DMCA

## Consensus and cooperation in networked multi-agent systems

### Cached

### Download Links

Venue: | PROCEEDINGS OF THE IEEE |

Citations: | 757 - 2 self |

### Citations

7509 |
Matrix Analysis
- Horn, Johnson
- 1985
(Show Context)
Citation Context ...nd a sufficiently small ɛ, the matrix P satisfies the property � j pij = 1 with pij ≥ 0, ∀i, j. Hence, P is a valid transition probability matrix for the Markov chain in (4). The reason matrix theory =-=[35]-=- is so widely used in analysis of consensus algorithms [38, 28, 70, 59, 74, 56] is primarily due to the structure of P in equation (4) and its connection to graphs7 . There are interesting connections... |

3817 | Emergence of scaling in random networks
- Barabási, Albert
- 1999
(Show Context)
Citation Context ...In other words, there is a trade-off between having a large maximum degree and robustness to time-delays. Networks with hubs (having very large degrees) that are commonly known as scale-free networks =-=[4]-=- are fragile to time-delays. In contrast, random graphs [22] and small-world networks [92, 65] are fairly robust to time-delays since they do not have hubs. In conclusion, construction of engineering ... |

3200 |
Collective dynamics of ‘small-world’ networks
- Watts, Strogatz
- 1998
(Show Context)
Citation Context ...logy of the network to achieve a relatively high algebraic connectivity. A randomized algorithm for network design is proposed by Olfati-Saber [65] based on random rewiring idea of Watts and Strogatz =-=[92]-=- that led to creation of their celebrated small-world model. The random rewiring of existing links of a network gives rise to considerably faster consensus algorithms. This is due to multiple orders o... |

2990 | A.: On Random Graphs
- Erdõs, Rényi
- 1959
(Show Context)
Citation Context ... maximum degree and robustness to time-delays. Networks with hubs (having very large degrees) that are commonly known as scale-free networks [4] are fragile to time-delays. In contrast, random graphs =-=[22]-=- and small-world networks [92, 65] are fairly robust to time-delays since they do not have hubs. In conclusion, construction of engineering networks with nodes that have high degrees is not a good ide... |

2540 | The structure and function of complex networks
- Newman
- 2003
(Show Context)
Citation Context ... the small-world network. Of course, the regular network in Fig. 4 (e) has 3.33 times as many links as the small-world network. For further information on small-world networks, we refer the reader to =-=[92, 63, 65]-=-.sstate 100 90 80 70 60 50 40 30 20 10 Consensus and Cooperation in Networked Multi-Agent Systems 21 (a) (b) (c) 0 0 2 4 6 8 10 time (sec) ( state 100 90 80 70 60 50 40 30 20 10 0 0 50 100 150 time (s... |

1948 |
Distributed Algorithms
- Lynch
- 1996
(Show Context)
Citation Context ...ed oscillators, small-world networks 1 Introduction: Consensus and Cooperation Consensus problems have a long history in computer science and form the foundation of the field of distributed computing =-=[51]-=-. Formal study of consensus problems in groups of experts originated in management science and statistics in 1960’s (See DeGroot [19] and references therein). The ideas of statistical consensus theory... |

1213 | Coordination of Groups of Mobile Autonomous Agents Using Nearest Neighbor Rules
- Jadbabaie, Lin, et al.
- 2003
(Show Context)
Citation Context ...g on the earlier work of Fax and Murray [27, 28]. The study of the alignment problem involving reaching an agreement—without computing any objective functions—appeared in the work of Jadbabaie et al. =-=[38]-=-. Further theoretical extensions of this work were presented in [59, 74] with a look toward treatment of directed information flow in networks as shown in Fig. 1 (a). The common motivation behind the ... |

1126 |
The Theory of Learning in Games
- Fudenberg
- 1997
(Show Context)
Citation Context ...erative task as well. Formal analysis of the behavior of systems that involve more than one type of agent is more complicated, particularly, in presence of adversarial agents in non-cooperative games =-=[31, 82]-=-. The focus of this paper is on cooperative multi-agent systems. 1.3 Iterative Consensus Algorithms and Markov Chains In Section 2, we show how an iterative consensus algorithm that corresponds to the... |

1030 | Consensus problems in networks of agents with switching topology and timedelays
- Olfati-Saber, Murray
(Show Context)
Citation Context ...een an agent and all of its neighbors on the network 5 . The theoretical framework for posing and solving consensus problems for networked dynamic systems was introduced by Olfati-Saber and Murray in =-=[76, 70]-=- building on the earlier work of Fax and Murray [27, 28]. The study of the alignment problem involving reaching an agreement—without computing any objective functions—appeared in the work of Jadbabaie... |

640 |
Algebraic connectivity of graphs
- Fiedler
- 1973
(Show Context)
Citation Context ...nown as the trivial eigenvalue of L. For a connected graph G, λ2 > 0 (i.e. the zero eigenvalue is isolated). The second smallest eigenvalue of Laplacian λ2 is called algebraic connectivity of a graph =-=[29]-=-. Algebraic connectivity of the network topology is a measure of performance/speed of consensus algorithms [70]. Example 1. Fig. 2 shows two examples of networks of integrator agents with different to... |

632 |
Chemical Oscillations, Waves, and Turbulence
- Kuramoto
- 1984
(Show Context)
Citation Context ...ronization of Coupled Oscillators The problem of synchronization of coupled oscillators has attracted numerous scientists from diverse fields including physics, biology, neuroscience, and mathematics =-=[45, 57, 87, 25]-=-. This is partly due to the emergence of synchronous oscillations in coupled neural oscillators. Let us consider the generalized Kuramoto model of coupled oscillators on a graph with dynamics ˙θi = κ ... |

566 |
Novel type of phase transition in a system of Self-Driven particles
- Vicsek, CzirÃşk, et al.
- 1995
(Show Context)
Citation Context ...ry of consensus protocols in computer science [51], whereas Jadbabaie et al. [38] attempted to provide a formal analysis of emergence of alignment in the simplified model of flocking by Viscek et al. =-=[91]-=-. The setup in [70] was originally created with the vision of designing agent-based amorphous computers [1, 62] for collaborative information processing in networks. Later, [70] was used in developmen... |

562 | Coverage control for mobile sensing networks
- Cortes, Martinez, et al.
(Show Context)
Citation Context ...oscillator networks [73]. Flocking Theory Flocks of mobile agents equipped with sensing and communication devices can serve as mobile sensor networks for massive distributed sensing in an environment =-=[17]-=-. A theoretical framework for design and analysis of flocking algorithms for mobile agents with obstacle-avoidance capabilities is developed by Olfati-Saber [66]. The role of consensus algorithms in p... |

502 |
Information Flow and Cooperative Control of Vehicle Formations
- Fax, Murray
- 2004
(Show Context)
Citation Context ... The theoretical framework for posing and solving consensus problems for networked dynamic systems was introduced by Olfati-Saber and Murray in [76, 70] building on the earlier work of Fax and Murray =-=[27, 28]-=-. The study of the alignment problem involving reaching an agreement—without computing any objective functions—appeared in the work of Jadbabaie et al. [38]. Further theoretical extensions of this wor... |

454 | Gossip-based computation of aggregate information
- Kempe, Dobra, et al.
- 2003
(Show Context)
Citation Context ...ng [66], or design of novel information fusion algorithms for sensor networks that are robust to node and link failures [64, 86, 98, 13, 78, 67]. Gossip-based algorithms such as the push-sum protocol =-=[41]-=- are important alternatives in computer science to Laplacian-based consensus algorithms in this paper. Markov processes establish an interesting connection between the information propagation speed in... |

452 |
Stability of multiagent systems with time-dependent communication links
- Moreau
- 2005
(Show Context)
Citation Context ...lignment problem involving reaching an agreement—without computing any objective functions—appeared in the work of Jadbabaie et al. [38]. Further theoretical extensions of this work were presented in =-=[59, 74]-=- with a look toward treatment of directed information flow in networks as shown in Fig. 1 (a). The common motivation behind the work in [10, 90, 70] is the rich history of consensus protocols in compu... |

429 |
Load balancing for distributed memory processors
- CYBENKO
- 1989
(Show Context)
Citation Context ...the Perron Matrix of graph G (See Section 2.3 for details).sConsensus and Cooperation in Networked Multi-Agent Systems 5 One of the early applications of consensus problems was dynamic load balancing =-=[18]-=- for parallel processors with the same structure as system (4). To this date, load balancing in networks proves to be an active area of research in computer science. 1.4 Applications Many seemingly di... |

418 | Fast linear iterations for distributed averaging
- Xiao, Boyd
- 2004
(Show Context)
Citation Context .... Fast Consensus in Small-Worlds In recent years, network design problems for achieving faster consensus algorithms has attracted considerable attention from a number of researchers. In Xiao and Boyd =-=[97]-=-, design of the weights of a network is considered and solved using semi-definite convex programming. This leads to a slight increase in algebraic connectivity of a network that is a measure of speed ... |

409 | Flocking for multi-agent dynamic systems: Algorithms and theory - Olfati-Saber - 2006 |

402 | Random Walks on Graphs: A Survey
- Lovasz
- 1996
(Show Context)
Citation Context ...re, this discretization with ɛ = 1 is invalid. Interestingly, the Markov process π(k + 1) = π(k)P (24) with transition probability matrix P = D −1 A is known as the process of random walks on a graph =-=[49]-=- in graph theory and computer science literature with close connections to gossip-based consensus algorithms [11].s14 Reza Olfati-Saber, J. Alex Fax, and Richard M. Murray Keep in mind that based on a... |

401 | Consensus seeking in multiagent systems under dynamically changing interaction topologies
- Ren, Beard
- 2005
(Show Context)
Citation Context ...lignment problem involving reaching an agreement—without computing any objective functions—appeared in the work of Jadbabaie et al. [38]. Further theoretical extensions of this work were presented in =-=[59, 74]-=- with a look toward treatment of directed information flow in networks as shown in Fig. 1 (a). The common motivation behind the work in [10, 90, 70] is the rich history of consensus protocols in compu... |

398 | Ramanujan graphs
- Lubotzky, Phillips, et al.
- 1988
(Show Context)
Citation Context ...The notion of algebraic connectivity of graphs has appeared in a variety of other areas including low-density parity-check codes (LDPC) in information theory and communications [84], Ramanujan graphs =-=[50]-=- in number theory and quantum chaos, and combinatorial optimization problems such as the max-cut problem [58]. More recently, there has been a tremendous surge of interest—among researchers from vario... |

379 |
Reaching a consensus
- DeGroot
- 1974
(Show Context)
Citation Context ...ence and form the foundation of the field of distributed computing [51]. Formal study of consensus problems in groups of experts originated in management science and statistics in 1960’s (See DeGroot =-=[19]-=- and references therein). The ideas of statistical consensus theory by DeGroot reappeared two decades later in aggregation of information with uncertainty obtained from multiple sensors 4 [6] and medi... |

336 | Expander codes
- Sipser, Spielman
- 1996
(Show Context)
Citation Context ... consensus algorithms. The notion of algebraic connectivity of graphs has appeared in a variety of other areas including low-density parity-check codes (LDPC) in information theory and communications =-=[84]-=-, Ramanujan graphs [50] in number theory and quantum chaos, and combinatorial optimization problems such as the max-cut problem [58]. More recently, there has been a tremendous surge of interest—among... |

327 | Synchronization of pulse-coupled biological oscillators
- Mirollo, Strogatz
(Show Context)
Citation Context ...ronization of Coupled Oscillators The problem of synchronization of coupled oscillators has attracted numerous scientists from diverse fields including physics, biology, neuroscience, and mathematics =-=[45, 57, 87, 25]-=-. This is partly due to the emergence of synchronous oscillations in coupled neural oscillators. Let us consider the generalized Kuramoto model of coupled oscillators on a graph with dynamics ˙θi = κ ... |

324 |
Essentials of robust control
- Zhou, Doyle
- 1998
(Show Context)
Citation Context ...Laplacian of the network. Note that λi may be complex, leading to a complex-valued LTI system in the above formulation. This formalism lends itself to applications of tools from robust control theory =-=[100]-=-. The zero eigenvalue of L can be interpreted as the unobservability of absolute motion of the formation in the measurements zi. A prudent design strategy is to close an inner loop around yi such that... |

294 | From kuramoto to crawford: exploring the onset of synchronization in populations of coupled oscillators
- Strogatz
(Show Context)
Citation Context ...ronization of Coupled Oscillators The problem of synchronization of coupled oscillators has attracted numerous scientists from diverse fields including physics, biology, neuroscience, and mathematics =-=[45, 57, 87, 25]-=-. This is partly due to the emergence of synchronous oscillations in coupled neural oscillators. Let us consider the generalized Kuramoto model of coupled oscillators on a graph with dynamics ˙θi = κ ... |

277 | Kalman filtering with intermittent observations
- Sinopoli, Schenato, et al.
- 2004
(Show Context)
Citation Context ...for reaching a consensus. 3 Consensus in Dynamic Networks In many scenarios, networked systems can possess a dynamic topology that is time-varying due to node and link failures/creations, packet-loss =-=[83, 33]-=- , asynchronous consensus [34], state-dependence [56], formation reconfiguration [69], evolution [4], and flocking [77, 66]. Networked systems with a dynamic topology are commonly known as switching n... |

224 | The Laplacian spectrum of graphs
- Mohar
- 1991
(Show Context)
Citation Context ..., [70] was used in development of flocking algorithms with guaranteed convergence and the capability to deal with obstacles and adversarial agents [66]. Graph Laplacians and their spectral properties =-=[29, 58, 55, 32]-=- are important graph-related matrices that play a crucial role in convergence analysis of consensus and alignment algorithms. Graph Laplacians are an important point of focus of this paper. It is wort... |

222 | Convergence in multiagent coordination, consensus, and flocking
- Blondel, Hendrickx, et al.
- 2005
(Show Context)
Citation Context ...ng researchers from various disciplines of engineering and science—in problems related to multi-agent networked systems with close ties to consensus problems. This includes subjects such as consensus =-=[47, 9, 5, 15, 54, 8, 79]-=-, collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivi... |

219 | Gossip algorithms: Design, analysis and applications
- Boyd, Ghosh, et al.
- 2005
(Show Context)
Citation Context ... this paper. Markov processes establish an interesting connection between the information propagation speed in these two categories of algorithms proposed by computer scientists and control theorists =-=[11]-=-. The contribution of this paper is to present a cohesive overview of the key results on theory and applications of consensus problems in networked systems in a unified framework. This includes basic ... |

197 | Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions
- CORTÉS, MARTÍNEZ, et al.
(Show Context)
Citation Context ...s in space [3, 46]. This is equivalent to reaching a consensus in position by a number of agents with an interaction topology that is position induced (i.e. a proximity graph). We refer the reader to =-=[16]-=- and references therein for a detailed discussion. This type of rendezvous is an unconstrained consensus problem that becomes challenging under variations in the network topology. Flocking is somewhat... |

192 |
Distributed memoryless point convergence algorithm for mobilerobots with limited visibility. Robotics and Automation
- Ando, Oasa, et al.
- 1999
(Show Context)
Citation Context ...k in comparison to a lattice-type nearest-neighbort graph.s6 Reza Olfati-Saber, J. Alex Fax, and Richard M. Murray Rendezvous in Space Another common form of consensus problems is rendezvous in space =-=[3, 46]-=-. This is equivalent to reaching a consensus in position by a number of agents with an interaction topology that is position induced (i.e. a proximity graph). We refer the reader to [16] and reference... |

189 | Local control strategies for groups of mobile autonomous agents
- Lin, Francis, et al.
(Show Context)
Citation Context ...ng researchers from various disciplines of engineering and science—in problems related to multi-agent networked systems with close ties to consensus problems. This includes subjects such as consensus =-=[47, 9, 5, 15, 54, 8, 79]-=-, collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivi... |

168 | Distributed Kalman filtering for sensor networks
- Olfati-Saber
- 2007
(Show Context)
Citation Context ...a result, we now have a better understanding of complex phenomena such as flocking [66], or design of novel information fusion algorithms for sensor networks that are robust to node and link failures =-=[64, 86, 98, 13, 78, 67]-=-. Gossip-based algorithms such as the push-sum protocol [41] are important alternatives in computer science to Laplacian-based consensus algorithms in this paper. Markov processes establish an interes... |

156 | Agreement over random networks
- Hatano, Mesbahi
- 2005
(Show Context)
Citation Context ...s to consensus problems. This includes subjects such as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks =-=[34, 73]-=-, synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robo... |

138 |
Laplacian matrices of graphs: A survey, Linear Algebra Appl
- Merris
- 1994
(Show Context)
Citation Context ..., [70] was used in development of flocking algorithms with guaranteed convergence and the capability to deal with obstacles and adversarial agents [66]. Graph Laplacians and their spectral properties =-=[29, 58, 55, 32]-=- are important graph-related matrices that play a crucial role in convergence analysis of consensus and alignment algorithms. Graph Laplacians are an important point of focus of this paper. It is wort... |

135 |
Distributed Kalman filters with embedded consensus filters
- Olfati-Saber
- 2005
(Show Context)
Citation Context ...tworked systems with close ties to consensus problems. This includes subjects such as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion =-=[64, 71, 33]-=-, random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], format... |

130 | Leader-to-formation stability
- Tanner, Pappas, et al.
(Show Context)
Citation Context ...ization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems =-=[21, 68, 69, 24, 89, 88, 48, 96, 20]-=-, optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks... |

127 | Distributed cooperative control of multiple vehicle formations using structural potential functions
- Olfati-Saber, Murray
- 2002
(Show Context)
Citation Context ...ization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems =-=[21, 68, 69, 24, 89, 88, 48, 96, 20]-=-, optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks... |

125 | Necessary and sufficient graphical conditions for formation control of unicycles
- Lin, Francis, et al.
- 2005
(Show Context)
Citation Context ...ization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems =-=[21, 68, 69, 24, 89, 88, 48, 96, 20]-=-, optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks... |

121 | Consensus filters for sensor networks and distributed sensor fusion
- Olfati-Saber, Shamma
- 2005
(Show Context)
Citation Context ... The most recent application of consensus problems is distributed sensor fusion in sensor networks . This is done by posing various distributed averaging problems require to implement a Kalman filter =-=[64, 71]-=-, approximate Kalman filter [86], or linear least-squares estimator [98] as average-consensus problems. Novel low-pass and high-pass consensus filters are also developed that dynamically calculate the... |

109 | Consensus protocols for networks of dynamic agents
- Saber, Murray
- 2003
(Show Context)
Citation Context ...een an agent and all of its neighbors on the network 5 . The theoretical framework for posing and solving consensus problems for networked dynamic systems was introduced by Olfati-Saber and Murray in =-=[76, 70]-=- building on the earlier work of Fax and Murray [27, 28]. The study of the alignment problem involving reaching an agreement—without computing any objective functions—appeared in the work of Jadbabaie... |

104 | On the stability of the kuramoto model of coupled nonlinear oscillators
- Jadbabaie, Motee, et al.
- 2004
(Show Context)
Citation Context ... (38) where xi ∈ R m , ui ∈ R p are the vehicle states and controls, and i ∈ V = {1, . . . , n} is the index for the vehicles in the group. Each vehicle receives the following measurements: yi = C1xi =-=(39)-=- zij = C2(xi − xj), j ∈ Ni, (40) Thus, yi ∈ R k represents internal state measurements, and zij ∈ R l represents external state measurements relative to other vehicles. We assume that Ni �= ∅, meaning... |

101 |
Algebraic graph theory,” volume 207 of Graduate Texts in Mathematics
- Godsil, Royle
- 2001
(Show Context)
Citation Context ..., [70] was used in development of flocking algorithms with guaranteed convergence and the capability to deal with obstacles and adversarial agents [66]. Graph Laplacians and their spectral properties =-=[29, 58, 55, 32]-=- are important graph-related matrices that play a crucial role in convergence analysis of consensus and alignment algorithms. Graph Laplacians are an important point of focus of this paper. It is wort... |

96 |
Multi-agent rendezvous problem
- Lin, Morse, et al.
- 2003
(Show Context)
Citation Context ...k in comparison to a lattice-type nearest-neighbort graph.s6 Reza Olfati-Saber, J. Alex Fax, and Richard M. Murray Rendezvous in Space Another common form of consensus problems is rendezvous in space =-=[3, 46]-=-. This is equivalent to reaching a consensus in position by a number of agents with an interaction topology that is position induced (i.e. a proximity graph). We refer the reader to [16] and reference... |

92 |
Products of indecomposable, aperiodic, stochastic matrices
- Wolfowitz
- 1963
(Show Context)
Citation Context ...stic matrices Pst · · · Ps2Ps1 has a limit. The problem of convergence of infinite product of stochastic matrices has a long history and has been studied by several mathematicians including Wolfowitz =-=[94]-=-. The proof in [38] relies on Wolfowitz’s lemma: Lemma 5. (Wolfowitz, 1963) Let P = {P1, P2, . . . , Pm} be a finite set of primitive stochastic matrices such that for any sequence of matrices Ps1, Ps... |

91 |
On Maximizing the Second Smallest Eigenvalue of a State-Dependent Graph Laplacian
- Kim, Mesbahi
(Show Context)
Citation Context ...flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks =-=[65, 12, 43]-=-, asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [... |

90 | Graph rigidity and distributed formation stabilization of multi-vehicle systems
- Olfati-Saber, Murray
- 2002
(Show Context)
Citation Context |

87 | Programmable self-assembly using biologically-inspired multiagent control
- Nagpal
- 2002
(Show Context)
Citation Context ...mal analysis of emergence of alignment in the simplified model of flocking by Viscek et al. [91]. The setup in [70] was originally created with the vision of designing agent-based amorphous computers =-=[1, 62]-=- for collaborative information processing in networks. Later, [70] was used in development of flocking algorithms with guaranteed convergence and the capability to deal with obstacles and adversarial ... |

84 |
Frequency plateaus in a chain of weakly coupled oscillators
- Ermentrout, Kopell
- 1984
(Show Context)
Citation Context |

83 | Dynamic fictitious play, dynamic gradient play, and distributed convergence to nash equilibria
- Shamma, Arslan
- 2005
(Show Context)
Citation Context ...erative task as well. Formal analysis of the behavior of systems that involve more than one type of agent is more complicated, particularly, in presence of adversarial agents in non-cooperative games =-=[31, 82]-=-. The focus of this paper is on cooperative multi-agent systems. 1.3 Iterative Consensus Algorithms and Markov Chains In Section 2, we show how an iterative consensus algorithm that corresponds to the... |

75 |
Consensus theoretic classification methods
- Benediktsson, Swain
- 1992
(Show Context)
Citation Context ...DeGroot [19] and references therein). The ideas of statistical consensus theory by DeGroot reappeared two decades later in aggregation of information with uncertainty obtained from multiple sensors 4 =-=[6]-=- and medical experts [93]. Distributed computation over networks has a tradition in systems and control theory starting with the pioneering work of Borkar and Varaiya [10] and Tsitsiklis and Athens [9... |

71 |
Asymptotic agreement in distributed estimation
- Borkar, Varaiya
- 1982
(Show Context)
Citation Context ...ained from multiple sensors 4 [6] and medical experts [93]. Distributed computation over networks has a tradition in systems and control theory starting with the pioneering work of Borkar and Varaiya =-=[10]-=- and Tsitsiklis and Athens [90] on asynchronous asymptotic agreement problem for distributed decision-making systems. This effort was summarized in [7] with applications to parallel computing. In netw... |

63 |
Ultrafast consensus in small-world networks
- Olfati-Saber
- 2005
(Show Context)
Citation Context ...flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks =-=[65, 12, 43]-=-, asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [... |

60 | Controlling Connectivity of Dynamic Graphs
- Zavlanos, Pappas
- 2005
(Show Context)
Citation Context ...], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs =-=[56, 61, 40, 99]-=-, complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected applications will be presented shortly. In t... |

58 | Robust Computation of Aggregates in Wireless Sensor Networks: Distributed Randomized Algorithms and Analysis
- Chen, Pandurangan, et al.
- 2005
(Show Context)
Citation Context ...a result, we now have a better understanding of complex phenomena such as flocking [66], or design of novel information fusion algorithms for sensor networks that are robust to node and link failures =-=[64, 86, 98, 13, 78, 67]-=-. Gossip-based algorithms such as the push-sum protocol [41] are important alternatives in computer science to Laplacian-based consensus algorithms in this paper. Markov processes establish an interes... |

56 | Belief consensus and distributed hypothesis testing in sensor networks
- Olfati-Saber, Franco, et al.
- 2005
(Show Context)
Citation Context ... optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks =-=[78, 67]-=-. A detailed discussion of selected applications will be presented shortly. In this paper, we focus on the work described in five key papers—namely, Jadbabaie, Lin, and Morse [38], Olfati-Saber and Mu... |

53 | Convergence and asymptotic agreement in distributed decision problems
- Tsitsiklis, Athans
- 1984
(Show Context)
Citation Context ...6] and medical experts [93]. Distributed computation over networks has a tradition in systems and control theory starting with the pioneering work of Borkar and Varaiya [10] and Tsitsiklis and Athens =-=[90]-=- on asynchronous asymptotic agreement problem for distributed decision-making systems. This effort was summarized in [7] with applications to parallel computing. In networks of agents (or dynamic syst... |

45 | Closing ranks in vehicle formations based on rigidity
- Eren, Belhumeur, et al.
- 2002
(Show Context)
Citation Context ...t category of networked systems due to their commercial and military applications. There are two broad approaches to distributed formation control: i) representation of formations as rigid structures =-=[69, 23]-=- and the use of gradient-based controls obtained from their structural potentials [68] and ii) representation of formations using the vectors of relative positions of neighboring vehicles and the use ... |

43 |
Flocking with obstacle avoidance: Cooperation with limited communication in mobile networks
- Olfati-Saber, Murray
- 2003
(Show Context)
Citation Context ...gy that is time-varying due to node and link failures/creations, packet-loss [83, 33] , asynchronous consensus [34], state-dependence [56], formation reconfiguration [69], evolution [4], and flocking =-=[77, 66]-=-. Networked systems with a dynamic topology are commonly known as switching networks. A switching network can be modeled using a dynamic graph G s(t) parameterized with a switching signal s(t) : R → J... |

42 |
On state-dependent dynamic graphs and their controllability properties
- Mesbahi
- 2005
(Show Context)
Citation Context ...], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs =-=[56, 61, 40, 99]-=-, complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected applications will be presented shortly. In t... |

40 | A lower bound on convergence of a distributed network consencus algorithm
- Cao, Spielman, et al.
- 2005
(Show Context)
Citation Context ...flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks =-=[65, 12, 43]-=-, asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [... |

40 | On synchronous robotic networks - Part I: models, tasks, complexity
- Martinez, Bullo, et al.
- 2007
(Show Context)
Citation Context ...ormation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks =-=[36, 44, 52, 53]-=-, and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected applications will be presented shortly. In this paper, we focus on the work described in five ... |

39 | Average consensus problems in networks of agents with delayed communications
- Bliman, Ferrari-Trecate
- 1985
(Show Context)
Citation Context ...ng researchers from various disciplines of engineering and science—in problems related to multi-agent networked systems with close ties to consensus problems. This includes subjects such as consensus =-=[47, 9, 5, 15, 54, 8, 79]-=-, collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivi... |

38 | Limited communication control
- Hristu, Morgansen
- 1999
(Show Context)
Citation Context ...such that for any sequence of matrices Ps1, Ps2, . . . , Psk ∈ P with k ≥ 1, the product Psk · · · Ps2Ps1 is a primitive matrix. Then, there exists a row vector w such that lim Psk · · · Ps2Ps1 = 1w. =-=(36)-=- k→∞ According to Wolfowitz’s lemma, we get limk→∞ xk = 1(wx0) = α1 with α = wx0. The vector w depends on the switching sequence and cannot be determined a priori. Thus, an alignment is asymptotically... |

36 |
Optimal and cooperative control of vehicle formation
- Fax
- 2001
(Show Context)
Citation Context ... The theoretical framework for posing and solving consensus problems for networked dynamic systems was introduced by Olfati-Saber and Murray in [76, 70] building on the earlier work of Fax and Murray =-=[27, 28]-=-. The study of the alignment problem involving reaching an agreement—without computing any objective functions—appeared in the work of Jadbabaie et al. [38]. Further theoretical extensions of this wor... |

36 | Collective motion and oscillator synchronization
- Paley, D, et al.
- 2004
(Show Context)
Citation Context ...uch as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators =-=[81, 39, 72, 73, 14]-=-, algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-... |

35 | Distributed geodesic control laws for flocking of nonholonomic agents. Accepted for publication in - Moshtagh, Jadbabaie - 2006 |

34 | Connectivity Graphs as Models of Local Interactions.” Submitted to
- Muhammad, Egerstedt
- 2004
(Show Context)
Citation Context ...], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs =-=[56, 61, 40, 99]-=-, complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected applications will be presented shortly. In t... |

31 | Distributed estimation and control of swarm formation statistics
- Freeman, Yang, et al.
- 2006
(Show Context)
Citation Context ...n problems related to multi-agent networked systems with close ties to consensus problems. This includes subjects such as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms =-=[66, 80, 60, 95, 30]-=-, sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed... |

30 |
Decentralized task assignment for unmanned aerial vehicles
- Alighanbari, How
(Show Context)
Citation Context ... of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control =-=[75, 42, 37, 2]-=-, dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected application... |

30 |
Coordinated collective motion of groups of autonomous mobile robots: Analysis of vicsek’s model
- Savkin
- 2004
(Show Context)
Citation Context ...n problems related to multi-agent networked systems with close ties to consensus problems. This includes subjects such as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms =-=[66, 80, 60, 95, 30]-=-, sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed... |

29 | Sensor and network topologies of formations with direction, bearing, and angle information between agents
- Eren, Whiteley, et al.
(Show Context)
Citation Context |

29 | Approximate distributed Kalman filtering in sensor networks with quantifiable performance
- Spanos, Olfati-Saber, et al.
- 2005
(Show Context)
Citation Context ...a result, we now have a better understanding of complex phenomena such as flocking [66], or design of novel information fusion algorithms for sensor networks that are robust to node and link failures =-=[64, 86, 98, 13, 78, 67]-=-. Gossip-based algorithms such as the push-sum protocol [41] are important alternatives in computer science to Laplacian-based consensus algorithms in this paper. Markov processes establish an interes... |

28 | On synchronous robotic networks - Part II: Time complexity of rendezvous and deployment algorithms
- Martinez, Bullo, et al.
(Show Context)
Citation Context ...ormation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks =-=[36, 44, 52, 53]-=-, and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected applications will be presented shortly. In this paper, we focus on the work described in five ... |

26 | Cooperative Control of multi-vehicle systems using cost graph optimization - 11Olfati-Saber, Dunbar, et al. |

26 | Flocking with Obstacle Avoidance: Cooperation with Limited Communication in Mobile Networks
- Saber, Murray
- 2003
(Show Context)
Citation Context ...gy that is time-varying due to node and link failures/creations, packet-loss [83, 33] , asynchronous consensus [34], state-dependence [56], formation reconfiguration [69], evolution [4], and flocking =-=[77, 66]-=-. Networked systems with a dynamic topology are commonly known as switching networks. A switching network can be modeled using a dynamic graph G s(t) parameterized with a switching signal s(t) : R → J... |

25 |
On synchronization of kuramoto oscillators
- Chopra, Spong
- 2005
(Show Context)
Citation Context ...uch as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators =-=[81, 39, 72, 73, 14]-=-, algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-... |

22 | A study on decentralized receding horizon control for decoupled systems
- Keviczky, Borrelli, et al.
- 2004
(Show Context)
Citation Context ... of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control =-=[75, 42, 37, 2]-=-, dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected application... |

21 | BAsynchronous consensus protocols: Preliminary results, simulations and open questions
- Fang, Antsaklis, et al.
- 2005
(Show Context)
Citation Context ...ion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms =-=[54, 26]-=-, formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tas... |

21 | Synchronization in oscillator networks: switching topologies and non-homogeneous delays
- Papachristodoulou, Jadbabaie
(Show Context)
Citation Context ...uch as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators =-=[81, 39, 72, 73, 14]-=-, algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-... |

14 |
Connectedness preserving distributed coordination control over dynamic graphs
- Ji, Egerstedt
- 2005
(Show Context)
Citation Context |

13 |
Amorphous computing
- Knight, Rauch, et al.
- 2000
(Show Context)
Citation Context ...mal analysis of emergence of alignment in the simplified model of flocking by Viscek et al. [91]. The setup in [70] was originally created with the vision of designing agent-based amorphous computers =-=[1, 62]-=- for collaborative information processing in networks. Later, [70] was used in development of flocking algorithms with guaranteed convergence and the capability to deal with obstacles and adversarial ... |

13 |
Distributed consensus in networks of dynamic agents
- Bauso, Giarre, et al.
- 2005
(Show Context)
Citation Context |

12 | Distributed averaging on asynchronous communication networks
- Mehyar, Spanos, et al.
- 2005
(Show Context)
Citation Context |

10 | Formation control and collision avoidance for multi-agent systems and a connection between formation infeasibility and flocking behavior
- Dimarogonas, Kyriakopoulos
- 2005
(Show Context)
Citation Context |

9 |
Asynchronous distributed detection in sensor networks
- Saligrama, Alanyali, et al.
(Show Context)
Citation Context ... optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks =-=[78, 67]-=-. A detailed discussion of selected applications will be presented shortly. In this paper, we focus on the work described in five key papers—namely, Jadbabaie, Lin, and Morse [38], Olfati-Saber and Mu... |

9 | Assessing rater performance without a "gold standard" using consensus theory
- Weller, Mann
- 1997
(Show Context)
Citation Context ...ces therein). The ideas of statistical consensus theory by DeGroot reappeared two decades later in aggregation of information with uncertainty obtained from multiple sensors 4 [6] and medical experts =-=[93]-=-. Distributed computation over networks has a tradition in systems and control theory starting with the pioneering work of Borkar and Varaiya [10] and Tsitsiklis and Athens [90] on asynchronous asympt... |

6 |
Formation control with virtual leaders and reduced communications
- Egerstedt, Hu
(Show Context)
Citation Context |

6 |
A scheme for asynchronuous distributed sensor fusion based on average consensus
- Xiao, Boyd, et al.
(Show Context)
Citation Context |

5 |
Achieving coordination tasks in finite time via nonsmooth gradient flows
- Cortes
- 2005
(Show Context)
Citation Context |

4 |
A Stochastic Algorithm for Self-Organization of Autonomous Swarms
- Xi, Tan, et al.
- 2005
(Show Context)
Citation Context ...n problems related to multi-agent networked systems with close ties to consensus problems. This includes subjects such as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms =-=[66, 80, 60, 95, 30]-=-, sensor fusion [64, 71, 33], random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed... |

3 | On sensor fusion in the presence of packetdropping communication channels
- Gupta, Hassibi, et al.
- 2005
(Show Context)
Citation Context ...tworked systems with close ties to consensus problems. This includes subjects such as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion =-=[64, 71, 33]-=-, random networks [34, 73], synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], format... |

3 |
Decentralized Spacing Control of a String of Multiple Vehicles Over Lossy Datalinks
- Teo, Stipanović
- 2010
(Show Context)
Citation Context |

2 |
Synchronization in generalized Erd os-Rénye networks of nonlinear oscillators
- Preciado, Verghese
- 2005
(Show Context)
Citation Context ...s to consensus problems. This includes subjects such as consensus [47, 9, 5, 15, 54, 8, 79], collective behavior of flocks and swarms [66, 80, 60, 95, 30], sensor fusion [64, 71, 33], random networks =-=[34, 73]-=-, synchronization of coupled oscillators [81, 39, 72, 73, 14], algebraic connectivity 6 of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robo... |

2 |
Relative sensing networks: observability, estimation, and the control structure
- Sandhu, Mesbahi, et al.
- 2005
(Show Context)
Citation Context |

1 | Interesting conjugate points in formation constrained multi-agent coordination
- Hu, Prandini, et al.
- 2005
(Show Context)
Citation Context ... of complex networks [65, 12, 43], asynchronous distributed algorithms [54, 26], formation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control =-=[75, 42, 37, 2]-=-, dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks [36, 44, 52, 53], and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected application... |

1 |
Communication complexity of multi-robot systems. The 5th Int. Workshop on Algorithmic Foundation of Robotics
- Klavins
- 2002
(Show Context)
Citation Context ...ormation control for multi-robot systems [21, 68, 69, 24, 89, 88, 48, 96, 20], optimization-based cooperative control [75, 42, 37, 2], dynamic graphs [56, 61, 40, 99], complexity of coordinated tasks =-=[36, 44, 52, 53]-=-, and consensus-based belief propagation in Bayesian networks [78, 67]. A detailed discussion of selected applications will be presented shortly. In this paper, we focus on the work described in five ... |

1 |
Formation control with virtual leaders and reduced communications
- Xi, Abed
- 2005
(Show Context)
Citation Context |