Paper Info
Title
Distributed Consensus In Networks Of Dynamic Agents
Abstract
Stationary and distributed consensus protocols for a network of n dynamic agents under local information is considered. Consensus must be reached on a group decision value returned by a function of the agents' initial state values. As a main contribution we show that the agents can reach consensus if the value of such a function computed over the agents' state trajectories is time invariant. We use this basic result to introduce a protocol design rule allowing consensus on a quite general set of values. Such a set includes, e.g., any generalized mean of order p of the agents' initial states. We demonstrate that the asymptotical consensus is reached via a Lyapunov approach. Finally we perform a simulation study concerning the alignment maneuver of a team of unmanned air vehicles.
Year
DOI
Venue
2005
10.1109/CDC.2005.1583298
2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8
Keywords
DocType
ISSN
intelligent networks,remotely operated vehicles,network topology,distributed consensus,protocols,mobile robots,vehicle dynamics,control systems
Conference
0743-1546
Citations 
PageRank 
References 
10
3.53
12
Authors
3
Name
Order
Citations
PageRank
Dario Bauso121235.09
Laura Giarré26816.93
Raffaele Pesenti327738.44