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Consensus and cooperation in networked multiagent systems
 PROCEEDINGS OF THE IEEE
"... This paper provides a theoretical framework for analysis of consensus algorithms for multiagent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, timedelays, and performance guarantees. An overview of ..."
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Cited by 772 (2 self)
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This paper provides a theoretical framework for analysis of consensus algorithms for multiagent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, timedelays, and performance guarantees. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory, algebraic graph theory, and control theory. We discuss the connections between consensus problems in networked dynamic systems and diverse applications including synchronization of coupled oscillators, flocking, formation control, fast consensus in smallworld networks, Markov processes and gossipbased algorithms, load balancing in networks, rendezvous in space, distributed sensor fusion in sensor networks, and belief propagation. We establish direct connections between spectral and structural properties of complex networks and the speed of information diffusion of consensus algorithms. A brief introduction is provided on networked systems with nonlocal information flow that are considerably faster than distributed systems with latticetype nearest neighbor interactions. Simulation results are presented that demonstrate the role of smallworld effects on the speed of consensus algorithms and cooperative control of multivehicle formations.
Information Consensus in Multivehicle Cooperative Control
, 2007
"... The abundance of embedded computational resources in autonomous vehicles enables enhanced operational effectiveness through cooperative teamwork in civilian and military applications. Compared to autonomous vehicles that perform solo missions, greater efficiency and operational capability can be rea ..."
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Cited by 228 (23 self)
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The abundance of embedded computational resources in autonomous vehicles enables enhanced operational effectiveness through cooperative teamwork in civilian and military applications. Compared to autonomous vehicles that perform solo missions, greater efficiency and operational capability can be realized from teams of autonomous vehicles operating in a coordinated fashion. Potential applications for multivehicle systems include spacebased interferometers, combat, surveillance, and reconnaissance systems, hazardous material handling, and distributed reconfigurable sensor networks. To enable these applications, various cooperative control capabilities need to be developed, including formation control, rendezvous, attitude alignment, flocking, foraging, task and role assign
Distributed control of robotic networks: a mathematical approach to motion coordination algorithms
, 2009
"... (i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 ..."
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Cited by 38 (1 self)
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(i) You are allowed to freely download, share, print, or photocopy this document. (ii) You are not allowed to modify, sell, or claim authorship of any part of this document. (iii) We thank you for any feedback information, including errors, suggestions, evaluations, and teaching or research uses. 2 “Distributed Control of Robotic Networks ” by F. Bullo, J. Cortés and S. Martínez
Selfimproving algorithms
 in SODA ’06: Proceedings of the seventeenth annual ACMSIAM symposium on Discrete algorithm
"... We investigate ways in which an algorithm can improve its expected performance by finetuning itself automatically with respect to an arbitrary, unknown input distribution. We give such selfimproving algorithms for sorting and computing Delaunay triangulations. The highlights of this work: (i) an al ..."
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Cited by 34 (6 self)
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We investigate ways in which an algorithm can improve its expected performance by finetuning itself automatically with respect to an arbitrary, unknown input distribution. We give such selfimproving algorithms for sorting and computing Delaunay triangulations. The highlights of this work: (i) an algorithm to sort a list of numbers with optimal expected limiting complexity; and (ii) an algorithm to compute the Delaunay triangulation of a set of points with optimal expected limiting complexity. In both cases, the algorithm begins with a training phase during which it adjusts itself to the input distribution, followed by a stationary regime in which the algorithm settles to its optimized incarnation. 1
VisionBased, Distributed Control Laws for Motion Coordination of Nonholonomic Robots
 ACCEPTED FOR PUBLICATION IN IEEE TRANSACTIONS ON ROBOTICS
"... We study the problem of distributed motion coordination among a group of planar nonholonomic agents. Inspired by social aggregation phenomena such as flocking and schooling in birds and fish, we develop visionbased control laws for parallel and circular formations using a consensus approach. The pr ..."
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Cited by 29 (3 self)
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We study the problem of distributed motion coordination among a group of planar nonholonomic agents. Inspired by social aggregation phenomena such as flocking and schooling in birds and fish, we develop visionbased control laws for parallel and circular formations using a consensus approach. The proposed control laws are distributed, in the sense that only information from neighboring agents are included. Furthermore, the control laws are coordinatefree and do not rely on measurement or communication of heading information among neighbors, but instead require measurements of bearing, optical flow and timetocollision, all of which can be measured using vision. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots.
Distributed Control of Triangular Formations with AngleOnly Constraints
, 2010
"... This paper considers the coupled formation control of three mobile agents moving in the plane. Each agent has only local interagent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming the desired angular separation of each agent r ..."
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Cited by 19 (1 self)
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This paper considers the coupled formation control of three mobile agents moving in the plane. Each agent has only local interagent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming the desired angular separation of each agent relative to the group is feasible, then a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape.
COORDINATED PATHFOLLOWING IN THE PRESENCE OF COMMUNICATION LOSSES AND TIME DELAYS ∗
"... Abstract. This paper addresses the problem of steering a group of vehicles along given paths while holding a desired formation pattern. The solution to this problem, henceforth referred to as the Coordinated PathFollowing problem, unfolds in two basic steps. First, a pathfollowing control law is u ..."
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Cited by 19 (9 self)
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Abstract. This paper addresses the problem of steering a group of vehicles along given paths while holding a desired formation pattern. The solution to this problem, henceforth referred to as the Coordinated PathFollowing problem, unfolds in two basic steps. First, a pathfollowing control law is used that drives each vehicle to its assigned path regardless of the temporal speed profile adopted. This is done by making each vehicle approach a conveniently defined virtual target that moves along the path. In the second step, the speeds of the vehicles are adjusted so as to synchronize the positions of the corresponding virtual targets (also called coordination states) thus achieving coordination along the paths. In the problem formulation, it is explicitly considered that each vehicle transmits its coordination state to only a subset of the other vehicles, as determined by the communications topology adopted. It is shown that the system that is obtained by putting together the path following and coordination strategies can be naturally viewed as a feedback interconnected system. Using this result and recent results from nonlinear system and graph theory, conditions are derived under which the path following and the coordination errors are driven to a neighborhood of zero in the presence of communication failures and time delays. Two different situations are considered. The first captures the case where the communication graph is alternately connected and disconnected (brief connectivity losses). The second reflects an operating scenario where the union of the communication graphs over uniform intervals of time remains connected (uniformly connected in mean). To better ground the paper on a nontrivial design example, a coordinated pathfollowing algorithm is derived for multiple underactuated Autonomous Underwater Vehicles (AUVs). Simulation results are presented and discussed. Key words. Coordination control, communication losses and time delays, pathfollowing, autonomous underwater vehicle AMS subject classifications. 1. Introduction. Increasingly
The Convergence of Bird Flocking
, 2009
"... We bound the time it takes for a group of birds to reach steady state in a standard flocking model. We prove that (i) within single exponential time fragmentation ceases and each bird settles on a fixed flying direction; (ii) the flocking network converges only after a number of steps that is an ite ..."
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Cited by 14 (6 self)
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We bound the time it takes for a group of birds to reach steady state in a standard flocking model. We prove that (i) within single exponential time fragmentation ceases and each bird settles on a fixed flying direction; (ii) the flocking network converges only after a number of steps that is an iterated exponential of height logarithmic in the number of birds. We also prove the highly surprising result that this bound is optimal. The model directs the birds to adjust their velocities repeatedly by averaging them with their neighbors within a fixed radius. The model is deterministic, but we show that it can tolerate a reasonable amount of stochastic or even adversarial noise. Our methods are highly general and we speculate that the results extend to a wider class of models based on undirected flocking networks, whether defined metrically or topologically. This work introduces new techniques of broader interest, including the flight net, the iterated spectral shift, and a certain residueclearing argument in circuit complexity.
Bearingonly control laws for balanced circular formations of ground robots
 In Proc. of Robotics: Science and Systems
, 2008
"... Abstract — For a group of constantspeed ground robots, a simple control law is designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanc ..."
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Cited by 8 (0 self)
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Abstract — For a group of constantspeed ground robots, a simple control law is designed to stabilize the motion of the group into a balanced circular formation using a consensus approach. It is shown that the measurements of the bearing angles between the robots are sufficient for reaching a balanced circular formation. We consider two different scenarios that the connectivity graph of the system is either a complete graph or a ring. Collision avoidance capabilities are added to the team members and the effectiveness of the control laws are demonstrated on a group of mobile robots. I.