Proceedings Article10.1109/WCICA.2010.5554954
Distributed consensus for multi-agent systems with communication delays and limited data rate
Shuai Liu,Lihua Xie,Tao Li +2 more
- 07 Jul 2010
- pp 904-909
75
TL;DR: A distributed consensus protocol is proposed based on dynamic encoding and decoding and it is shown that for a connected network, as long as the time delays are bounded, the average consensus can be achieved with a finite-level quantizer.
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Abstract: This paper considers the average consensus problem for multi-agent networks with communication delays and limited data rate. The average consensus problem becomes much complicated when both delays and quantization are to be considered. In this paper, a distributed consensus protocol is proposed based on dynamic encoding and decoding. It is shown that for a connected network, as long as the time delays are bounded, the average consensus can be achieved with a finite-level quantizer. Moreover, merely one bit information exchange between each pair of adjacent agents at each time step suffices to guarantee the average consensus.
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References
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
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Algebraic Graph Theory
Chris Godsil,Gordon F. Royle +1 more
- 01 Jan 2009
TL;DR: The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: A theoretical explanation for the observed behavior of the Vicsek model, which proves to be a graphic example of a switched linear system which is stable, but for which there does not exist a common quadratic Lyapunov function.
Correction to "Coordination of groups of mobile autonomous agents using nearest neighbor rules"
Ali Jadbabaie,Jie Lin,A.S. Morse +2 more
TL;DR: In a recent Physical Review Letters article, Vicsek et al. provide simulation results which demonstrate that the nearest neighbor rule they are studying can cause all agents to eventually move in the same direction despite the absence of centralized coordination and despite the fact that each agent's set of nearest neighbors change with time as the system evolves.
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Distributed Consensus in Multi-vehicle Cooperative Control
Wei Ren,Randal W. Beard +1 more
- 01 Jan 2008
TL;DR: In this article, the authors present a survey of the use of consensus algorithms in multi-vehicle cooperative control, including single-and double-integrator dynamical systems, rigid-body attitude dynamics, rendezvous and axial alignment, formation control, deep-space formation flying, fire monitoring and surveillance.
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