Second-Order Agents on Ring Digraphs

The paper addresses the problem of consensus seeking among second-order linear agents interconnected in a specific ring topology. Unlike the existing results in the field dealing with one-directional digraphs arising in various cyclic pursuit algorithms or two-directional graphs, we focus on the case where some arcs in a two-directional ring graph are dropped in a regular fashion. The derived condition for achieving consensus turns out to be independent of the number of agents in a network.Comment: 6 pages, 10 figure

Generalized hierarchical cyclic pursuit

Cyclic pursuit has been an important connection topology in multi-agent systems. Many variants of the classical cyclic pursuit law have been analysed by researchers. Among these variants are homogeneous and heterogeneous cyclic pursuit, or single layer and hierarchical cyclic pursuit. In this paper hierarchical cyclic pursuit, with heterogeneous gains, has been considered. This paper generalizes existing results by allowing both heterogeneity in the gains, and extension of the single layer information flow graph to a multi-layer hierarchical structure. Some new results are presented about the reachability of agents in hierarchical cyclic pursuit. It is shown that the existing results may be obtained as special cases of the results obtained in this paper. Simulation results are provided to support the theoretical findings. (C) 2016 Elsevier Ltd. All rights reserved