2025/09/24 by Abhinav Sinha, Dwaipayan Mukherjee, Sinha, Abhinav +3
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #Dynamical Systems (math.DS) #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Modular Robots and Swarm Intelligence #Multiagent Systems (cs.MA) #Opportunistic and Delay-Tolerant Networks #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2509.20314
openalex publication_date 2025/09/24 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to convergence to the average of initial states, while directed graphs permit asymmetry but make consensus dependent on root nodes and their influence. Both paradigms impose inherent restrictions on achievable consensus values and network robustness. This paper introduces a theoretical framework for achieving consensus over a class of network topologies, termed pseudo-undirected graphs, which retains bidirectional connectivity between node pairs but allows the corresponding edge weights to differ, including the possibility of negative values under bounded conditions. The resulting Laplacian is generally non-symmetric, yet it guarantees consensus under connectivity assumptions, to expand the solution space, which enables the system to achieve a stable consensus value that can lie outside the convex hull of the initial state set. We derive admissibility bounds for negative weights for a pseudo-undirected path graph, and show an application in the simultaneous interception of a moving target.