RELAXED CONDITIONS FOR CONSENSUS IN MULTI-AGENT COORDINATION |
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Authors: | Qin Li Zhongping Jiang |
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Institution: | (1) Department of Electrical and Computer Engineering, Polytechnic University, Six Metrotech Center, Brooklyn, NY 11201, USA |
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Abstract: | This paper proposes relaxed suffient conditions for the consensus of multi-agent systems by the averaging protocols with time-varying
system topology. Bidirectional information exchange between neighboring agents is considered and both the discrete-time and
continuous-time consensus protocols are studied. It is shown that the consensus is reached if there exists an unbounded time
sequence such that two agents who own the maximum and minimum states at each time instant in the sequence will be jointly
connected at some future time. Further, this result is applied to the original nonlinear Vicsek model, and a sufficient condition
for the heading consensus of the group with restricted initial conditions is obtained.
This work was supported in part by the National Science Foundation under Grant Nos. ECS-0093176 and DMS-0504462, and in part
by the National Natural Science Foundation of China under Grant 60628302. |
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Keywords: | Averaging protocol consensus multi-agent systems Vicsek's model |
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