Graph theoretic methods in multiagent networks

M Mesbahi - 2010 - torrossa.com
“I don't want to achieve immortality through my work... I want to achieve it through not dying.”—
Woody Allen The emergence of (relatively) cheap sensing and actuation nodes, capable of …

Consensus and cooperation in networked multi-agent systems

R Olfati-Saber, JA Fax, RM Murray - Proceedings of the IEEE, 2007 - ieeexplore.ieee.org
This paper provides a theoretical framework for analysis of consensus algorithms for multi-
agent networked systems with an emphasis on the role of directed information flow …

Containment control in mobile networks

M Ji, G Ferrari-Trecate, M Egerstedt… - IEEE Transactions on …, 2008 - ieeexplore.ieee.org
In this paper, the problem of driving a collection of mobile robots to a given target destination
is studied. In particular, we are interested in achieving this transfer in an orderly manner so …

Convergence speed in distributed consensus and averaging

A Olshevsky, JN Tsitsiklis - SIAM journal on control and optimization, 2009 - SIAM
We study the convergence speed of distributed iterative algorithms for the consensus and
averaging problems, with emphasis on the latter. We first consider the case of a fixed …

On the rendezvous problem for multiple nonholonomic agents

DV Dimarogonas… - IEEE Transactions on …, 2007 - ieeexplore.ieee.org
In this note, a decentralized feedback control strategy that drives a system of multiple
nonholonomic unicycles to a rendezvous point in terms of both position and orientation is …

Decentralized receding horizon control for large scale dynamically decoupled systems

T Keviczky, F Borrelli, GJ Balas - Automatica, 2006 - Elsevier
We present a detailed study on the design of decentralized receding horizon control (RHC)
schemes for decoupled systems. We formulate an optimal control problem for a set of …

Decentralized control of connectivity for multi-agent systems

MC De Gennaro, A Jadbabaie - Proceedings of the 45th IEEE …, 2006 - ieeexplore.ieee.org
In this paper we propose a decentralized algorithm to increase the connectivity of a multi-
agent system. The connectivity property of the multi-agent system is quantified through the …

Stable flocking of multiple inertial agents on balanced graphs

D Lee, MW Spong - IEEE transactions on automatic control, 2007 - ieeexplore.ieee.org
In this note, we consider the flocking of multiple agents which have significant inertias and
evolve on a balanced information graph. Here, by flocking, we mean that all the agents …

Connectedness preserving distributed swarm aggregation for multiple kinematic robots

DV Dimarogonas… - IEEE Transactions on …, 2008 - ieeexplore.ieee.org
A distributed swarm aggregation algorithm is developed for a team of multiple kinematic
agents. Specifically, each agent is assigned a control law, which is the sum of two elements …

A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems

DV Dimarogonas, KJ Kyriakopoulos - Automatica, 2008 - Elsevier
In this paper, a feedback control strategy that achieves convergence of a multi-agent system
to a desired formation configuration is proposed for both the cases of agents with single …