Consensus and Cooperation in Networked Multi-Agent Systems
2007/01/01 by Reza Olfati-Saber, Reza Olfati‐Saber, J. Alex Fax +2 · 266 citations
Computer Science · Physics and Astronomy · #Distributed Control Multi-Agent Systems #Neural Networks Stability and Synchronization #Opinion Dynamics and Social Influence
paper · doi:10.1109/jproc.2006.887293
Abstract
<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> 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, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory, algebraic graph theory, and control theory. We discuss the connections between consensus problems in networked dynamic systems and diverse applications including synchronization of coupled oscillators, flocking, formation control, fast consensus in small-world networks, Markov processes and gossip-based algorithms, load balancing in networks, rendezvous in space, distributed sensor fusion in sensor networks, and belief propagation. We establish direct connections between spectral and structural properties of complex networks and the speed of information diffusion of consensus algorithms. A brief introduction is provided on networked systems with nonlocal information flow that are considerably faster than distributed systems with lattice-type nearest neighbor interactions. Simulation results are presented that demonstrate the role of small-world effects on the speed of consensus algorithms and cooperative control of multivehicle formations. </para>
Citations
Cited by
- Distributed event-triggered consensus for nonlinear multi-agent systems subject to cyber attacks
- Graph-Theoretic Analysis of Power Systems
- Emergent dynamics of Winfree oscillators on locally coupled networks
- Path Laplacian matrices: Introduction and application to the analysis of consensus in networks
- Heterophilious Dynamics Enhances Consensus
- Dynamics over Signed Networks
- Effect of Graph Gluing on Consensus in Networked Multi-Agent Systems
- Harnessing Disagreement: Detecting Correlated Agreement Blindness in Multi-Agent Triage
- How network perturbations distort agreement trajectories in LTI multi-agent systems
- Human-in-the-Loop Distributed Control of Grid-Interactive Buildings for Demand Response Participation
- AI Value Alignment for Evolving Social Norms
- Robust cooperative synchronization of homogeneous agents with delays on directed communication graphs
- Privacy Preserving Randomized Gossip Algorithms
- On the Optimal Interaction Range for Multi-Agent Systems Under\n Adversarial Attack
- A Class of LTI Distributed Observers for LTI Plants: Necessary and Sufficient Conditions for Stabilizability
- Consensus-based control for a network of diffusion PDEs with boundary local interaction
- Leader-following Consensus Problems with a Time-varying Leader under Measurement Noises
- Open Problems in Cooperative AI
- A Combinatorial Necessary and Sufficient Condition for Cluster Consensus
- On the duality between consensus problems and Markov processes, with application to delay systems
- Distributed average tracking for multiple reference signals with general linear dynamics
- Nonlinear Opinion Dynamics in Systems with Leadership Effect
- Distributed Consistent Data Association
- LQR-based coupling gain for synchronization of linear systems
- Distributed Least Squares Solver for Network Linear Equations
- Spectral Dynamics of Semantic Drift in Clinical Multi-Agent Language Model Networks
- Semistability-Based Robust and Optimal Control Design for Network Systems
- Robustness and Centrality in Markov-switching Networks
- Asynchronous Averaging on Dynamic Graphs with Selective Neighborhood Contraction
- LEO Constellations as a Decentralized GNSS Network: Optimizing PNT Corrections in Space
- A Mathematical Framework for Misinformation Propagation in Complex Networks: Topology-Dependent Distortion and Control
- Various Vicsek Models with Underlying Network Characteristics
- Decentralized GNSS at Global Scale via Graph-Aware Diffusion Adaptation
- Fuzzy Consensus and Synchronization: Theory and Application to Critical Infrastructure Protection Problems
- Thermal RGB Fusion for Micro-UAV Wildfire Perimeter Tracking with Minimal Comms
- Excess of Social Behavior Reduces the Capacity to Respond to\n Perturbations
- Deep Neural Network-Based Aerial Transport in the Presence of Cooperative and Uncooperative UAS
- A Note on Emergent Behavior in Multi-agent Systems Enabled by Neuro-spike Communication
- Multi Time Scale Behaviour of The Formation of Multiple Groups of Nonholonomic Wheeled Mobile Robots
- Emergent Behaviors over Signed Random Dynamical Networks: Relative-State-Flipping Model
- A Game Theoretic Approach to Hyperbolic Consensus Problems
- SPARCAS: A Decentralized, Truthful Multi-Agent Collision-free Path\n Finding Mechanism
- A Game-Theoretic Approach for Adversarial Information Fusion in Distributed Sensor Networks
- Resistant Topology Inference in Consensus Networks: A Feedback-Based Design
- Small-Signal Analysis of the Microgrid Secondary Control Considering a\n Communication Time Delay
- From Consensus to Robust Clustering: Multi-Agent Systems with Nonlinear Interactions
- Distributionally Robust Cascading Risk in Multi-Agent Rendezvous: Extended Analysis of Parameter-Induced Ambiguity
- Asynchronous Decentralized Parallel Stochastic Gradient Descent
- Active Secure Neighbor Selection in Multi-Agent Systems with Byzantine Attacks
- Second-Order MPC-Based Distributed Q-Learning
- Opinion Dynamics with Decaying Confidence: Application to Community\n Detection in Graphs
- Asymptotic analysis of threshold models for social networks
- Resilient and Efficient Allocation for Large-Scale Autonomous Fleets via Decentralized Coordination
- Secure and Privacy-Preserving Consensus
- Consensus-based joint target tracking and sensor localization
- Proximal-Free ADMM for Decentralized Composite Optimization via Graph Simplification
- Unit dual quaternion directed graphs, formation control and general weighted directed graphs
- On two-degrees-of-freedom agreement protocols
- Tight displacement-based formation control under bounded disturbances. A set-theoretic perspective
- Quantifying and Minimizing Perception Gap in Social Networks
- On the Redundant Distributed Observability of Mixed Traffic Transportation Systems
- Disentangled Control of Multi-Agent Systems
- Consensus-based In-Network Computation of the PARAFAC Decomposition
- Learning to Communicate to Solve Riddles with Deep Distributed Recurrent\n Q-Networks
- Consensus Problems in Networks of Agents under Nonlinear Protocols with Directed Interaction Topology
- Angle-based Shape Determination Theory of Planar Graphs with Application to Formation Stabilization
- PIhDn-1 synchronization of higher-order nonlinear systems with a recursive Lyapunov approach
- Source Coding Optimization for Distributed Average Consensus
- A Bregman Splitting Algorithm for Distributed Optimization over Networks
- D-MAP: Distributed Maximum a Posteriori Probability Estimation of Dynamic Systems
- Dynamics and control for multi-agent networked systems: a finite\n difference approach
- On the convergence of weighted-average consensus
- Distributed Average Tracking for Multiple Signals Generated by Linear Dynamical Systems: An Edge-based Framework
- Consensus Computation in Unreliable Networks: A System Theoretic\n Approach
- Privacy preservation in continuous-time average consensus algorithm via deterministic additive obfuscation signals
- Belief places and spaces: Mapping cognitive environments
- Distributed Weight Selection in Consensus Protocols by Schatten Norm Minimization
- The structure and dynamics of networks with higher order interactions
- Consensus of Multi-Agent Networks in the Presence of Adversaries Using\n Only Local Information
- Lie Bracket Approximation of Extremum Seeking Systems
- Regulated State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Delays: A Scale-Free Protocol Design (with a general MATLAB implementation)
- Continuous-time average-preserving opinion dynamics with opinion-dependent communications
- Dynamic coupling design for nonlinear output agreement and time-varying\n flow control
- Distributed Joint Sensor Registration and Multitarget Tracking Via Sensor Network
- Privacy-Preserving Average Consensus via State Decomposition
- Game Theory for Signal Processing in Networks
- Containment Control for a Social Network with State-Dependent\n Connectivity
- Distributed Sparse Linear Regression
- Average Consensus by Graph Filtering: New Approach, Explicit Convergence Rate and Optimal Design
- Differentially positive systems
- Minimum time consensus for damped second order agents using Gröbner basis
- Machine Learning and CPU (Central Processing Unit) Scheduling Co-Optimization over a Network of Computing Centers
- Optimal Information Combining for Multi-Agent Systems Using Adaptive Bias Learning
- Switching Network System Identification via Convex Optimizations
- Analytical Swarm Chemistry: Characterization and Analysis of Emergent Swarm Behaviors
- Quantifying Security for Networked Control Systems: A Review
- Fundamental Limits of Cooperative Integrated Sensing and Communications over Low-Earth Orbit THz Satellite Channels
- Communication-Efficient Algorithms For Distributed Optimization
- Asymmetric Outcomes in Two-Actor Conflict Dynamics: Stability, Bifurcations, and Emergent Behaviors
- Application of semidefinite programming to maximize the spectral gap produced by node removal
- Exponential convergence of multiagent systems with lack of connection
- Coherence and Concentration in Tightly-Connected Networks
- Multitask Learning with Learned Task Relationships
- Scale-free Collaborative Protocol Design for Synchronization of Homogeneous and Heterogeneous Discrete-time Multi-agent Systems
- Variance Analysis of Randomized Consensus in Switching Directed Networks
- Controlled Hopwise Averaging: Bandwidth/Energy-Efficient Asynchronous Distributed Averaging for Wireless Networks
- Distributed Cooperative Spectrum Sensing in Mobile Ad Hoc Networks with Cognitive Radios
- Orientation and Connectivity Based Criteria for Asymptotic Consensus
- Information-Theoretic Privacy in Distributed Average Consensus
- Multi-agent control of airplane wing stability under the flexural torsion flutter
- Data-Driven Distributed State Estimation and Behavior Modeling in Sensor Networks
- Phase locking and multistability in the topological Kuramoto model on cell complexes
- Asynchronous Nonlinear Sheaf Diffusion for Multi-Agent Coordination
- Network Consensus in the Wasserstein Space of Probability Measures Defined on Multi-Dimensional Euclidean Spaces
- Heterophilious dynamics enhances consensus
- Cooperative output regulation of multi-agent network systems with dynamic edges
- Synchronization of Singularly Perturbed Systems with Time Scales
- Game-Theoretic Understandings of Multi-Agent Systems with Multiple Objectives
- Collective intelligence as a public good
- A "Safe Kernel" Approach for Resilient Multi-Dimensional Consensus
- Communication-Efficient Distributed Deep Learning: A Comprehensive Survey
- Minimal Controllability Problems
- Symmetrization for quantum networks: a continuous-time approach
- Finding Optimal Sinks for Random Walkers in a Network
- Hinf Consensus of nonlinear complex multi-agent systems using dynamic output feedback controller: An LMI approach
- Deep Q-Network Based Multi-agent Reinforcement Learning with Binary Action Agents
- Learning Multiagent Communication with Backpropagation
- State Synchronization for Homogeneous Networks of Non-introspective Agents in Presence of Input Saturation -A Scale-free Protocol Design
- Proactive-reactive detection and mitigation of intermittent faults in robot swarms
- Detection of Gaussian signals via hexagonal sensor networks
- On the Mathematical Structure of Balanced Chemical Reaction Networks\n Governed by Mass Action Kinetics
- Global H_∞ Consensus of Multi-Agent Systems with Lipschitz Nonlinear Dynamics
- Differentially Private Iterative Synchronous Consensus
- Broadcast Gossip Algorithms for Consensus on Strongly Connected Digraphs
- Robust, Online, and Adaptive Decentralized Gaussian Processes
- Emergent Topology of Optimal Networks for Synchrony
- Subteaming and Adaptive Formation Control for Coordinated Multi-Robot Navigation
- A Software-Defined Radio Testbed for Distributed LiDAR Point Cloud Sharing with IEEE 802.11p in V2V Networks
- Geometry-Aware Decentralized Sinkhorn for Wasserstein Barycenters
- Explainable AI-Enhanced Supervisory Control for Robust Multi-Agent Robotic Systems
- Generalized cyclic algorithms for formation acquisition and control
- Network Aggregative Games and Distributed Mean Field Control via\n Consensus Theory
- A Distributed and Privacy-Aware Speed Advisory System for Optimising Conventional and Electric Vehicles Networks
- Graph Balancing for Distributed Subgradient Methods over Directed Graphs
- Decentralized Control of Three-Dimensional Mobile Robotic Sensor Networks
- Using First Hitting Times to Find Sets that Maximize the Convergence Rate to Consensus
- Distributed Event-Triggered Distance-Based Formation Control for Multi-Agent Systems
- Consensus Control for Heterogeneous Multi-Agent Systems
- Information and Communication Theoretical Foundations of the Internet of Plants, Principles, Challenges, and Future Directions
- A Novel Theoretical Approach on Micro-Nano Robotic Networks Based on Density Matrices and Swarm Quantum Mechanics
- Laplacian Flows in Complex-valued Directed Networks: Analysis, Design, and Consensus
- An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
- Ribosome Flow Model on a Ring
- A Passivity Analysis for Nonlinear Consensus on Digraphs
- On the Learning Behavior of Adaptive Networks - Part I: Transient Analysis
- On the Stability Margin and Input Delay Margin of Linear Multi-agent systems
- Privacy-Preserving Distributed Control for a Networked Battery Energy Storage System
- Some results on exponential synchronization of nonlinear systems (long version)
- Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks
- Control of Multi-Layer Mobile Autonomous Systems in Adversarial Environments: A Games-in-Games Approach
- Robustness of Information Diffusion Algorithms to Locally Bounded Adversaries
- Robust Cooperative Formation Control of Fixed-Wing Unmanned Aerial Vehicles
- A Decentralized Multi-Objective Optimization Algorithm
- A Generalized Discrete-Time Altafini Model
- Collision Free Navigation of a Multi-Robot Team for Intruder Interception
- Guaranteed Cost Tracking for Uncertain Coupled Multi-agent Systems Using Consensus over a Directed Graph
- Decentralized Upper Confidence Bound Algorithms for Homogeneous Multi-Agent Multi-Armed Bandits
- A Novel Unified Extended Matrix for Graph Signal Processing: Theory and Application
- On Balancing Sparsity with Reliable Connectivity in Distributed Network Design with Random K-out Graphs
- A Dual Quaternion Control Law for Formation Control of Multiple 3-D Rigid Bodies
- Adaptive Leader-Following Consensus for Uncertain Euler-Lagrange Systems under Directed Switching Networks
- Linear Quadratic Regulator Design for Multi-input Systems with A Distributed Cooperative Strategy
- Consensus and Sectioning-based ADMM with Norm-1 Regularization for Imaging with a Compressive Reflector Antenna
- From Global Linear Computations to Local Interaction Rules
- On Directed Graphs With Real Laplacian Spectra
- Distributed Quantized Average Consensus in Open Multi-Agent Systems with Dynamic Communication Links
- Distributed Integer Balancing under Weight Constraints in the Presence of Transmission Delays and Packet Drops
- Resilient Networking in Formation Flying UAVs
- Distributed AI Agents for Cognitive Underwater Robot Autonomy
- Distributionally Robust Cascading Risk Quantification in Multi-Agent Rendezvous: Effects of Time Delay and Network Connectivity
- Physics-Informed EvolveGCN: Satellite Prediction for Multi Agent Systems
- Robustness of Complex Networks with Implications for Consensus and Contagion
- Synchronization of Networked Harmonic Oscillators via Quantized Sampled Velocity Feedback
- Sample Greedy Gossip for Distributed Network-Wide Average Computation
- Diversity and Interaction Quality of a Heterogeneous Multi-Agent System Applied to a Synchronization Problem
- On the Distributed Optimization over Directed Networks
- Output agreement in networks with unmatched disturbances and algebraic\n constraints
- Online Proximal-ADMM For Time-varying Constrained Convex Optimization
- Consensus-Based Torque Control of Deloaded Wind DFIGs for Distributed\n and Fair Dynamic Dispatching
- Cybersecurity Challenges in Distributed Control
- Continuous Time Gathering of Agents with Limited Visibility and Bearing-Only Sensing
- Distributed Newton Optimization with Maximized Convergence Rate
- Scale-free Protocol Design for Output and Regulated Output\n Synchronization of Heterogeneous Multi-agent Systems
- Event-triggered Consensus of Matrix-weighted Networks Subject to Actuator Saturation
- Learning control for transmission and navigation with a mobile robot under unknown communication rates
- Automatic Centralized Control of Underactuated Large-scale Multi-robot Systems using a Generalized Coordinate Transformation
- Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation
- Regret-based spectral sensor scheduling for multi-agent estimation
- Bridge Consensus: Ignoring Initial Inessentials
- Circular formation control of fixed-wing UAVs with constant speeds
- Networked estimation under information constraints
- The Power Allocation Game on A Network: Balanced Equilibrium
- Joint Sensing and Power Allocation in Nonconvex Cognitive Radio Games: Nash Equilibria and Distributed Algorithms
- Optimization of convergence rate via algebraic connectivity
- Decentralized formation control with connectivity maintenance and collision avoidance under limited and intermittent sensing
- Fully Distributed Event-Triggered Protocols for Linear Multi-Agent Networks
- Decentralized Algorithms for Consensus-Based Power Packet Distribution
- Leader-Following Consensus of Multiple Linear Systems Under Switching Topologies: An Averaging Method
- Geometry of deadbeat synchronization
- Synchronizing discrete-time neutrally stable linear systems via partial-state coupling
- Continuous-Time Consensus under Non-Instantaneous Reciprocity
- Cyclic and Coherent States in Flocks with Topological Distance
- How to Quantify Polarization in Models of Opinion Dynamics
- Design and Analysis of the NIPS 2016 Review Process
- Collective motion
- Dynamic Active Average Consensus and its Application in Containment Control
- Approximate Consensus Multi-Agent Control Under Stochastic Environment with Application to Load Balancing
- Decentralized Markov Chain Gradient Descent
- Digital Ecosystems: Stability of Evolving Agent Populations
- Fast Consensus over Almost Regular Directed Graphs
- Simon's Anthill: Mapping and Navigating Belief Spaces
- Chimera dynamics in nonlocally coupled moving phase oscillators
- On the stability and convergence of a class of consensus systems with a nonlinear input
- Optimizing Reweighted Belief Propagation for Distributed Likelihood Fusion Problems
- Formation Stabilization with Collision Avoidance of Complex Systems
- Sensor Network Based Collision-Free Navigation and Map Building for Mobile Robots
- Robust Consensus of Linear Multi-Agent Systems under Input Constraints or Uncertainties
- Deadlock Analysis and Resolution in Multi-Robot Systems (Extended Version)
- Distributed Adaptive Consensus Control of High Order Unknown Nonlinear\n Networked Systems with Guaranteed Performance
- Static consensus in passifiable linear networks
- Dynamic Average Consensus under Limited Control Authority and Privacy\n Requirements
- Predictive & Trust-based Multi-Agent Coordination
- VoI-aware Scheduling Schemes for Multi-Agent Formation Control
- On the Smallest Eigenvalue of Grounded Laplacian Matrices
- Tropical Algebraic approach to Consensus over Networks
- Analytical Derivation of Outage Correlation in Random Media Access with\n Application to Average Consensus in Wireless Networks: Extended Paper Version
- Bounded confidence dynamics and graph control: enforcing consensus
- On the convergence of discrete-time linear systems: A linear\n time-varying Mann iteration converges iff the operator is strictly\n pseudocontractive
- Finite-Time Consensus Learning for Decentralized Optimization with Nonlinear Gossiping
- Network-based consensus averaging with general noisy channels
- Convergence Tools for Consensus in Multi-Agent Systems with Switching Topologies
- Structural properties of the Caenorhabditis elegans neuronal network. [europepmc]
- Optimal census by quorum sensing. [europepmc]
- Modelling Influence and Opinion Evolution in Online Collective Behaviour. [europepmc]
- Dynamic Involvement of Real World Objects in the IoT: A Consensus-Based Cooperation Approach. [europepmc]
- Square-Root Sigma-Point Information Consensus Filters for Distributed Nonlinear Estimation. [europepmc]
- Consensus-Based Cooperative Control Based on Pollution Sensing and Traffic Information for Urban Traffic Networks. [europepmc]
- Quantifying the web browser ecosystem. [europepmc]
- A robotic system for researching social integration in honeybees. [europepmc]
- Effect of Correlations in Swarms on Collective Response. [europepmc]
- Consensus-Based Filter for Distributed Sensor Networks with Colored Measurement Noise. [europepmc]
- A Novel Distributed State Estimation Algorithm with Consensus Strategy. [europepmc]
- Topology Effects on Sparse Control of Complex Networks with Laplacian Dynamics. [europepmc]
- Distributed Estimation Techniques for Cyber-Physical Systems: A Systematic Review. [europepmc]
- The evolving topology of the Lightning Network: Centralization, efficiency, robustness, synchronization, and anonymity. [europepmc]
- Finding continuity and discontinuity in fish schools via integrated information theory. [europepmc]
- The Algorithms of Distributed Learning and Distributed Estimation about Intelligent Wireless Sensor Network. [europepmc]
- Adaptive leadership overcomes persistence-responsivity trade-off in flocking. [europepmc]
- Recommendation of Workplaces in a Coworking Building: A Cyber-Physical Approach Supported by a Context-Aware Multi-Agent System. [europepmc]
- Overview of Time Synchronization for IoT Deployments: Clock Discipline Algorithms and Protocols. [europepmc]
- Four-Types of IIT-Induced Group Integrity of Plecoglossus altivelis . [europepmc]
- Multi-Robot Coordination Analysis, Taxonomy, Challenges and Future Scope. [europepmc]
- Aerial Swarms: Recent Applications and Challenges. [europepmc]
- Resilient Consensus Control Design for DC Microgrids against False Data Injection Attacks Using a Distributed Bank of Sliding Mode Observers. [europepmc]
- A Networked Method for Multi-Evidence-Based Information Fusion. [europepmc]
- Emergence of collective behaviours from local Voronoi topological perception. [europepmc]
Related