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This paper presents a measurement dissemination-based distributed Bayesian filtering (DBF) approach for a network of unmanned ground vehicles (UGVs). The DBF utilizes the Latest-In-and-Full-Out (LIFO) local exchange protocol of sensor measurements for data communication within the network. Different from existing statistics dissemination-based approaches that transmit posterior distributions or likelihood...
We revisit the problem of virtual leader tracking by a group of agents of second order dynamics when only a portion of the agents are informed of the information of the virtual leader. By proposing a simpler controller structure, we obtain results on coordinated consensus tracking control under a state dependent jointly connected topology. Such a network connectivity condition is weaker than the assumption...
The guaranteed performance of the consensus control for general linear multi-agent systems with Lipschitz nonlinear dynamics and directed interaction topologies is investigated, where the directed interaction topology contains a spanning tree. By a special matrix transformation, the guaranteed performance consensus problems are transferred into guaranteed performance stabilization problems. Then,...
A promising approach for dealing with the increasing demand of data traffic is the use of device-to-device (D2D) technologies, in particular when the destination can be reached directly, or though few retransmissions by peer devices. Thus, the cellular network can offload local traffic that is transmitted by an ad hoc network, e.g., a mobile ad hoc network (MANET), or a vehicular ad hoc network (VANET)...
Bit Indexed Explicit Replication (BIER) is a novel multicast forwarding scheme for IP networks that avoids states in replicating routers by encoding the multicast information into a bit string in the packet header. In addition, the BIER-TE variant encodes the multicast tree in the header and allows for network programmability. We propose the use of maximally redundant trees (MRTs) for 1+1 protection...
This paper investigates the containment control for second-order multi-agent systems with sampled position data. A containment control protocol with second-order dynamics is first designed, where agents may use different outdated sampled data at different sampling instants. Based on algebraic graph theory and matrix theory, a sufficient and necessary condition on the communication topology, the control...
This paper considers the group consensus problem for a class of discrete-time heterogeneous multi-agent systems composed of first-order and second-order agents with directed topology. The discrete-time heterogenous multi-agent systems reaching group consensus is proved and the convergent points of such system are found. Finally, numerical examples are provided to demonstrate the effectiveness of the...
In this paper, the problem of formation control of heterogeneous multi-agent systems is investigated. The heterogeneous multi-agent system is composed of first-order and second-order agents, where the second-order agents cannot obtain the velocity information. Firstly, without considering the input saturation, the distributed formation control protocols are designed for multi-agent systems with static...
Time-varying formation tracking problems for second-order multi-agent systems with switching and directed topologies are investigated, where the followers can not only form a predefined time-varying formation but also track the leader. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is proposed to design the formation tracking control...
In this paper, we examine the relationship between consensus of node dynamics and edge dynamics of a multi-agent system. The communication network topology of the multi-agent system is assumed to be a directed cyclic pursuit graph. We provide two linear forms of the edge dynamics. We show that if the node dynamics can reach a consensus, then the edge dynamics also reaches a consensus asymptotically...
This paper studies state synchronization of homogeneous continuous-time multi-agent systems (MAS) with time-varying communication topology in the presence of time-varying input delay. An upper bound for delay tolerance is obtained via a Lyapunov-Krasovskii functional-based method. This upper bound for the delay only depends on the agent dynamics and some rough information about the Laplacian matrix...
This paper deals with the problem of observer-based control for stochastic multi-agent systems with time-delay. The aim is to design a controller such that the system asymptotically reaches global consensus in mean square. By constructing an appropriate Lyapunov-Krasovskii functional and using an effective decoupling method, a sufficient condition in the form of LMIs for ensuring the existence of...
This paper considers the problem of improving the convergence rate for multi-agent consensus via a community detection algorithm used to divide the single layer topology into layers of connected subgraphs. This divided topological graph maintains the constraints of the original topological graph. Combining with the consensus protocol, community detection algorithm improves the convergence rate of...
This paper is concerned with consensus algorithms for multi-agent systems. Motivated by a recently proposed distributed algorithm that guarantees average consensus for undirected and time-invariant communication graphs using the so-called equal neighbour model, which assumes agents to weight the incoming information equally, we propose a generalisation of this weighting strategy and extend the average...
Wireless sensor networks are designed to collect information related to some events in hostile environments where human presence is not often possible. That is why we consider that once they are deployed, the sensors are autonomous. Their lifetime tightly rely on the manner of their batteries are utilized during network operations. Then, the most critical feature in sensor networks is the hardship...
Software Defined Network (SDN) is a proposal to networking world for global administration and management of network services. It also provides an abstraction of networking elements. Most of the security innovations in SDN are bound to an OpenFlow security framework which creates and implement security policies while detecting malicious traffic, that too in a flexible way. Existing methodologies convert...
This paper investigates a consensus problem of the fractional version of second-order system with communication delay under both directed and undirected topologies. By applying the frequency domain method, a sufficient condition is given to ensure the fractional version of second-order consensus facing communication delays. It is proof that fractional version of second-order consensus can be reached...
The paper is concerned with event-triggered sampled-data containment control in second-order multi-agent systems with directed topology. Under the transmission scheme, the event-trigged condition can be only intermittently detected at sampling constants. With the proposed protocol, the containment control of the multi-agent systems can be transformed into the stability of a time-delay system. By constructing...
In this work, we concentrate on network which is not able communicate with the sensors due to fail in the sensing process due to the temporary links of clutter with the access point. The novelty of the work is mainly divided into two folds mainly i)to know the connectivity problems and its requirements in the relay networks, ii) to restore the connection problems on the sensor nodes and to recover...
Geant, the pan-European Research and Education Network (REN) is working on a Software-Defined Networking (SDN) solution to improve the provisioning of the Bandwidth on Demand (BoD) service. The SDN-based solution will integrate with the current provisioning tool, AutoBAHN, to add support for OpenFlow domains. One of the main benefits of this approach is that the solution will still be compliant with...
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