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We present a novel strategy based on the use of contraction theory to coordinate motion in multiagent systems. We discuss two possible solutions to the rendezvous problem in planar roving agents by means of both linear and nonlinear communication protocols. Proofs of asymptotic stability are given together with the numerical validation of the theoretical results on a representative example.
Characterizing convergence speed is one of the important research challenges in the design of distributed consensus algorithms for networked multi-agent systems. In this paper, we consider a group of agents that communicate via a dynamically switching directed random network. Each link in the network, which represents the directed information flow between any ordered pair of agents, could be subject...
The consensus problem in directed networks of multiagent is studied. A new notion, called weighted average-consensus, is proposed and a class of distributed controller is applied to achieve global asymptotically weighted average-consensus in networks of multiagent with fixed and switching topology. We establish a connection between the Fiedler eigenvalue of the graph Laplacian and the performance...
This paper investigates the stability and boundary of a swarm with a general directed and weighted topology. The stability of a swarm is generally considered as cohesiveness. We construct a symmetric eigenmatrix and define an orthogonal eigenparameter which reflects the degree of orthogonality between the left eigenvector of the coupling matrix corresponding to its zero eigenvalue and the eigenvectors...
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