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38
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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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 10 (1 self)
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with timevarying delays and partially known transition probabilities
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 7 (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.
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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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].
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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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
Consensus and synchronization in discretetime networks of multiagents with stochastically switching topologies and time delays. Networks and Heterogeneous
, 2011
"... Consensus and synchronization in discretetime networks of multiagents with stochastically switching topologies and time delays by ..."
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Consensus and synchronization in discretetime networks of multiagents with stochastically switching topologies and time delays by
On the convergence of the maxconsensus protocol with asynchronous updates
 in IEEE Conf. on Decision and Control (CDC
, 2013
"... Abstract—In this paper, we present new theoretical results on the convergence of maxconsensus protocols for asynchronous networks. The analysis is carried out exploiting wellestablished concepts in the field of partially asynchronous iterative algorithms and of analytic synchronization. As a main ..."
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Abstract—In this paper, we present new theoretical results on the convergence of maxconsensus protocols for asynchronous networks. The analysis is carried out exploiting wellestablished concepts in the field of partially asynchronous iterative algorithms and of analytic synchronization. As a main result, we propose a theoretical setting to prove the convergence of the asynchronous maxconsensus protocol. Moreover, we provide an upper bound on the convergence time of the maxconsensus protocol in asynchronous networks. I.
Hybrid Control of CyberPhysical Systems
"... C yberPhysical Systems (CPSs) are systems that lie at the intersection of control, computation and communication. Research in this field involves modeling, analysis and control of embedded, networked, realtime and distributed systems. A CPS features a tight combination of, and coordination betwee ..."
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C yberPhysical Systems (CPSs) are systems that lie at the intersection of control, computation and communication. Research in this field involves modeling, analysis and control of embedded, networked, realtime and distributed systems. A CPS features a tight combination of, and coordination between, the system’s computational and physical elements. The first generation of CyberPhysical Systems, also referred to as Embedded Systems, has already given birth to applications in many fields, such as automotive, aerospace, manufacturing, chemical processes, civil infrastructure, energy, healthcare, transportation, entertainment, and consumer appliances. Secondgeneration embedded systems, or CyberPhysical Systems, stress more importance to the link and communication between computational and physical elements, rather than on the computation itself. Scientists have already posed questions about whether/how today’s resources and knowledge in control, communications and computing are adequate to deal with
ASYNCHRONOUS RENDEZVOUS ANALYSIS VIA SETVALUED CONSENSUS THEORY∗
"... Abstract. This paper presents the design and analysis result for asynchronous rendezvous control of multiagent systems with continuoustime dynamics and intermittent interactions. The protocoldesigning strategies only impose weak restrictions on anticipatedwaypoint sets (from which the waypoints ..."
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Abstract. This paper presents the design and analysis result for asynchronous rendezvous control of multiagent systems with continuoustime dynamics and intermittent interactions. The protocoldesigning strategies only impose weak restrictions on anticipatedwaypoint sets (from which the waypoints are selected) and pathplanning of each agent and can be applied to the networks of arbitrary dimensional subsystems. Explicitly, the anticipatedwaypoint sets are in a polytopelike form and the path between any two consecutive waypoints is required to be included within the minimum convex region covering the two associated anticipatedwaypoint sets. Under the assumption of directed and switching interaction topology and the assumption of intermittent and asynchronous interactions with timevarying delays, we perform the setvalued consensus analysis on the evolution of anticipatedwaypoint sets with respect to update times and provide mild sufficient conditions for the solvability of the asynchronous rendezvous problem. The proof techniques rely much on graph theory and nonnegative matrix theory. The obtained result extends greatly the existing work in the literature and several examples demonstrate its broad potential applications. Particularly, additional distributed control rules, different from the circumcenter algorithm, are devised for network connectivity maintenance.