This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial vehicles, unmanned ground vehicles, and unmanned underwater vehicles, has been a very active research subject studied extensively by the systems and control community. The recent results in this area are categorized into several directions, such as consensus, formation control, optimization, and estimation. After the review, a short discussion section is included to summarize the existing research and to propose several promising research directions along with some open problems that are deemed important for further investigations.

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An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination

This article reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial vehicles, unmanned ground vehicles and unmanned underwater vehicles, has been a very active research subject studied extensively by the systems and control community. The recent results in this area are categorized into several directions, such as consensus, formation control, optimization, task assignment, and estimation. After the review, a short discussion section is included to summarize the existing research and to propose several promising research directions along with some open problems that are deemed important for further investigations.

An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination

In this paper, the robust fixed-time consensus problem for multiagent systems with nonlinear dynamics and uncertain disturbances under a weighted undirected topology is investigated. Some nonlinear control protocols are proposed under which fixed-time consensus in the considered multiagent systems can be ensured. Compared with the initial-condition based finite-time consensus, it is theoretically shown that any prescribed convergence time for the achievement of consensus can be guaranteed within fixed time regardless of the initial conditions. Furthermore, the achievement of consensus is shown to be robust against bounded uncertain disturbances affecting the agents. Finally, some numerical examples are provided to illustrate the performance and effectiveness of the theoretical results.

Distributed Robust Fixed-Time Consensus for Nonlinear and Disturbed Multiagent Systems

Distributed consensus for multi-agent systems with delays and noises in transmission channels

This study concerns the consensus of a network of agents with general linear or linearised dynamics, whose communication topology contains a directed spanning tree. An observer-type consensus protocol based on the relative outputs of the neighbouring agents is adopted. The notion of consensus region is introduced, as a measure for the robustness of the protocol and as a basis for the protocol design. For neutrally stable agents, it is shown that there exists a protocol achieving consensus together with a consensus region that is the entire open right-half plane if and only if each agent is stabilisable and detectable. An algorithm is further presented for constructing such a protocol. For consensus with a prescribed convergence speed, a multi-step protocol design procedure is given, which yields an unbounded consensus region and at the same time maintains a favourable decoupling property. Finally, the consensus algorithms are extended to solve the formation control problems.

Dynamic consensus of linear multi-agent systems

Brief paper: Convergence speed in distributed consensus over dynamically switching random networks

Using FLUENT software, this paper creates a two-dimensional numerical wave flume and wave creep model based on the $k-\varepsilon$ turbulence model and the VOF method to track the free surface, uses the boundary condition method to create waves, and uses the sponge layer damping method to dissipate waves, and after verifying the validity of the numerical model, simulates the wave creep process on the slope embankment. The effects of dike top height, relative water depth and different curved surfaces on wave overtopping are analyzed. The results show that the wave runup height increases with the increase of relative water depth and decreases with the increase of the top height of the embankment; the wave runup height on the single-arc wave protection wall is smaller than that on the double-arc wave protection wall.

Numerical Simulation Study on Wave Runup of Curved Seawall

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Brief paper: Convergence speed in distributed consensus over dynamically switching random networks

Numerical Simulation Study on Wave Runup of Curved Seawall