196 research outputs found
Output Feedback Control for Couple-Group Consensus of Multiagent Systems
This paper deals with the couple-group consensus problem for multiagent systems via output feedback control. Both continuous- and discrete-time cases are considered. The consensus problems are converted into the stability problem of the error systems by the system transformation. We obtain two necessary and sufficient conditions of couple-group consensus in different forms for each case. Two different algorithms are used to design the control gains for continuous- and discrete-time case, respectively. Finally, simulation examples are given to show the effectiveness of the proposed results
Opinion influence and evolution in social networks: a Markovian agents model
In this paper, the effect on collective opinions of filtering algorithms
managed by social network platforms is modeled and investigated. A stochastic
multi-agent model for opinion dynamics is proposed, that accounts for a
centralized tuning of the strength of interaction between individuals. The
evolution of each individual opinion is described by a Markov chain, whose
transition rates are affected by the opinions of the neighbors through
influence parameters. The properties of this model are studied in a general
setting as well as in interesting special cases. A general result is that the
overall model of the social network behaves like a high-dimensional Markov
chain, which is viable to Monte Carlo simulation. Under the assumption of
identical agents and unbiased influence, it is shown that the influence
intensity affects the variance, but not the expectation, of the number of
individuals sharing a certain opinion. Moreover, a detailed analysis is carried
out for the so-called Peer Assembly, which describes the evolution of binary
opinions in a completely connected graph of identical agents. It is shown that
the Peer Assembly can be lumped into a birth-death chain that can be given a
complete analytical characterization. Both analytical results and simulation
experiments are used to highlight the emergence of particular collective
behaviours, e.g. consensus and herding, depending on the centralized tuning of
the influence parameters.Comment: Revised version (May 2018
A Review of Consensus-based Multi-agent UAV Applications
In this paper, a review of distributed control for multi-agent systems is proposed, focusing on consensus-based applications. Both rotary-wing and fixed-wing Unmanned Aerial Vehicles (UAVs) are considered. On one side, methodologies and implementations based on collision and obstacle avoidance through consensus are analyzed for multirotor UAVs. On the other hand, a target tracking through consensus is considered for fixed-wing UAVs. This novel approach to classify the literature could help researchers to assess the outcomes achieved in these two directions in view of potential practical implementations of consensus-based methodologies
An Overview of Recent Progress in the Study of Distributed Multi-agent Coordination
This article reviews some main results and progress in distributed
multi-agent coordination, focusing on papers published in major control systems
and robotics journals since 2006. Distributed coordination of multiple
vehicles, including unmanned aerial vehicles, unmanned ground vehicles and
unmanned underwater vehicles, has been a very active research subject studied
extensively by the systems and control community. The recent results in this
area are categorized into several directions, such as consensus, formation
control, optimization, task assignment, and estimation. After the review, a
short discussion section is included to summarize the existing research and to
propose several promising research directions along with some open problems
that are deemed important for further investigations
Two fault-tolerant control problems for multiple-integrators networks
The paper considers a network of agents with multiple-integrator internal dynamics, which share partial information on their states according to an arbitrary topology. For this system, two control problems are addressed and solved. The first consists in assigning the dominant closed-loop poles. The second consists in achieving a specified consensus with arbitrarily fast dynamics. In both cases, the regulator is required to be decentralized and the controlled network has to result tolerant with respect to faults in the communication apparatuses of the agents
The structure and dynamics of multilayer networks
In the past years, network theory has successfully characterized the
interaction among the constituents of a variety of complex systems, ranging
from biological to technological, and social systems. However, up until
recently, attention was almost exclusively given to networks in which all
components were treated on equivalent footing, while neglecting all the extra
information about the temporal- or context-related properties of the
interactions under study. Only in the last years, taking advantage of the
enhanced resolution in real data sets, network scientists have directed their
interest to the multiplex character of real-world systems, and explicitly
considered the time-varying and multilayer nature of networks. We offer here a
comprehensive review on both structural and dynamical organization of graphs
made of diverse relationships (layers) between its constituents, and cover
several relevant issues, from a full redefinition of the basic structural
measures, to understanding how the multilayer nature of the network affects
processes and dynamics.Comment: In Press, Accepted Manuscript, Physics Reports 201
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