Journal Article10.1002/RNC.1463
Quantized average consensus via dynamic coding/decoding schemes
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TL;DR: This contribution presents a consensus strategy in which the systems can exchange information among themselves according to a fixed strongly connected digital communication network and faces the quantization effects due to the digital links.
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Abstract: In the average consensus a set of linear systems has to be driven to the same final state, which corresponds to the average of their initial states. This mathematical problem can be seen as the simplest example of coordination task. In fact it can be used to model both the control of multiple autonomous vehicles which all have to be driven to the centroid of the initial positions, and to model the decentralized estimation of a quantity from multiple measure coming from distributed sensors. This contribution presents a consensus strategy in which the systems can exchange information among themselves according to a fixed strongly connected digital communication network. Beside the decentralized computational aspects induced by the choice of the communication network, we here have also to face the quantization effects due to the digital links. We here present and discuss two different encoding/decoding strategies with theoretical and simulation results on their performance. Copyright © 2009 John Wiley & Sons, Ltd.
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Citations
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Francesco Bullo,Jorge E. Cortes,Sonia Martinez +2 more
- 26 Jul 2009
TL;DR: This self-contained introduction to the distributed control of robotic networks offers a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation.
Consensus of Multi-Agent Systems With General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols
TL;DR: This technical brief considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics and finds that the adaptive consensus protocols here can be implemented by each agent in a fully distributed fashion without using any global information.
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Distributed networked control systems
TL;DR: A brief overview of distributed networked control systems regarding system configurations, challenging issues and methodologies is presented and some potential research directions are suggested.
659
Distributed consensus of linear multi-agent systems with adaptive dynamic protocols
TL;DR: This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics for both the cases without and with a leader whose control input might be nonzero and time varying, and proposes two types of distributed adaptive dynamic consensus protocols.
Network Topology and Communication Data Rate for Consensusability of Discrete-Time Multi-Agent Systems
Keyou You,Lihua Xie +1 more
TL;DR: In this article, a necessary and sufficient condition for consensusability under a common control protocol is given, which explicitly reveals how the intrinsic entropy rate of the agent dynamic and the communication graph jointly affect consensusability.
627
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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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Consensus and Cooperation in Networked Multi-Agent Systems
Reza Olfati-Saber,J.A. Fax,Richard M. Murray +2 more
- 05 Mar 2007
TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.
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