The Experts below are selected from a list of 5727 Experts worldwide ranked by ideXlab platform
Qijun Chen - One of the best experts on this subject based on the ideXlab platform.
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observer based output feedback event triggered control for consensus of multi agent systems
IEEE Transactions on Industrial Electronics, 2014Co-Authors: Hao Zhang, Gang Feng, Qijun ChenAbstract:This paper studies the consensus problem of linear multi-agent systems via observer-based event-triggered control. Two novel observer-based event-triggered control schemes, one centralized and the other distributed, are developed. It is shown that under the proposed control protocols, consensus can be reached if the underlying Communication Graph of the MAS is connected. An example is finally presented to illustrate the effectiveness of the proposed control methods.
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Distributed self-triggered control for consensus of multi-agent systems
IEEE CAA Journal of Automatica Sinica, 2014Co-Authors: Hao Zhang, Gang Feng, Qijun ChenAbstract:This paper studies the consensus problem of general linear multi-agent systems via self-triggered control. Two distributed self-triggered control schemes based on state feedback and output feedback are developed respectively. It is shown that under the proposed control protocols, consensus can be reached if the Communication Graph of the multi-agent system is connected. An example is presented to illustrate the effectiveness of the proposed control methods.
Shlomi Dolev - One of the best experts on this subject based on the ideXlab platform.
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Bounded-hop energy-efficient liveness of flocking swarms
IEEE Transactions on Mobile Computing, 2013Co-Authors: Shlomi Dolev, Michael Segal, Hanan ShpunginAbstract:In this paper, we consider a set of n mobile wireless nodes, which have no information about each other. The only information a single node holds is its current location and future mobility plan. We develop a two-phase distributed self-stabilizing scheme for producing a bounded hop-diameter Communication Graph. In the first phase, nodes construct a temporary underlying topology and disseminate their current location and mobility plans. This is followed by a second phase, in which nodes construct the desired topology under two modes: static and dynamic. The static mode provides a fixed topology which does not change in spite of node movements; the dynamic mode allows the topology to change; however, the hop-diameter remains the same. We provide an O(λ,λ2)-bicriteria approximation (in terms of total energy consumption and network lifetime, respectively) algorithm in the static mode: for an input parameter λ, we construct a static h-bounded hop Communication Graph, where h=nλ + logλ. In the dynamic mode, given a parameter h, we construct an optimal (in terms of network lifetime) h-bounded hop Communication Graph when every node moves with constant speed in a single direction along a straight line during each time interval. Our results are validated through extensive simulations. © 2002-2012 IEEE.
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Bounded-hop strong connectivity for flocking swarms
Modeling and Optimization in Mobile Ad Hoc and Wireless Networks (WiOpt) 2010 Proceedings of the 8th International Symposium on, 2010Co-Authors: Shlomi Dolev, Michael Segal, Hanan ShpunginAbstract:In this paper we consider a set of n mobile wireless nodes, which have no information about each other. The only information a single node holds is its current location and future mobility plan. We develop a two-phase distributed self-stabilizing scheme for producing a bounded hop-diameter Communication Graph. The first phase is dedicated to the construction of an underlying topology for the dissemination of data needed for the second phase. In the second phase the required topology is constructed by means of an asymmetric power assignment under two modes — static and dynamic. The former aims to provide a steady topology for some time interval, while the latter uses the constant node locations changes to produce a constantly changing topology, which succeeds to preserve the required property of the bounded hop-diameter. For the static mode we provide an O(λ,λ2)-bicriteria approximation algorithm so that given a parameter 1 ≤ λ ≤ n −1, we construct a power assignment which induces a static h-bounded hop Communication Graph, h = n/λ+logλ, with a cost of at most λ times the optimum and network lifetime of at least 1/λ2 times the optimum. For the dynamic mode, given a parameter 1 ≤ h ≤ n −1 we construct an optimal power assignment (in terms of network lifetime) which induces a dynamic h-bounded hop Communication Graph.
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Possible and Impossible Self-Stabilizing Digital Clock Synchronization in General Graphs
Real-Time Syst., 1997Co-Authors: Shlomi DolevAbstract:We study digital clock synchronization for multiprocessor systems, where processors are triggered by a common clock pulse and communicate with others via shared memory. A self-stabilizing digital clock synchronization protocol for systems with a general Communication Graph is presented. The protocol can commence in an arbitrary non-consistent system state and converges to a legitimate state in which the clocks are synchronized and incremented by one in every subsequent pulse. To enhance the fault-tolerance of our protocol, we allow that during and following convergence processors may stop operating. Crash failures may partition the Communication Graph into several connected components. Our protocol synchronizes the clocks of the processors in every such connected component. For the case in which faulty processors can exhibit Byzantine behavior, we prove that there is no digital clock synchronization protocol that tolerates even one single faulty processor.
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Self-stabilizing depth-first search
Information Processing Letters, 1994Co-Authors: Zeev Collin, Shlomi DolevAbstract:A distributed algorithm is self-stabilizing if it can be started from any possible global state. Once started, the algorithm converges to a consistent global state by itself. This paper presents a distributed self-stabilizing Depth-First Search (DFS) spanning tree algorithm, whose output is a DFS spanning tree of the Communication Graph, kept in a distributed fashion. © 1994.
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Self-stabilization of dynamic systems assuming only read/write atomicity
Distributed Computing, 1993Co-Authors: Shlomi Dolev, Amos Israeli, Shlomo MoranAbstract:Three self-stabilizing protocols for distributed systems in the shared memory model are presented. The first protocol is a mutual-exclusion prootocol for tree structured systems. The second protocol is a spanning tree protocol for systems with any connected Communication Graph. The thrid protocol is obtianed by use of fair protoco combination , a simple technique which enables the combination of two self-stabilizing dynamic protocols. The result protocol is a self-stabilizing, mutualexclusion protocol for dynamic systems with a general (connected) Communication Graph. The presented protocols improve upon previous protocols in two ways: First, it is assumed that the only atomic operations are either read or write to the shared memory. Second, our protocols work for any connected network and even for dynamic network, in which the topology of the network may change during the excution.
Jason R. Marden - One of the best experts on this subject based on the ideXlab platform.
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CDC - Designing games for distributed optimization with a time varying Communication Graph
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012Co-Authors: Na Li, Jason R. MardenAbstract:The central goal in multi-agent systems is to engineer a decision making architecture where agents make independent decisions in response to local information while ensuring that the emergent global behavior is desirable with respect to a given system level objective. Our previous work identified a systematic methodology for such a task using the framework of state based games. One core advantage of the approach is that it provides a two step process that can be decoupled by utilizing specific classes of games. Exploiting this decomposition could lead to a rich class of distributed learning algorithm. However, a drawback of our previous approach is the dependence on a time-invariant and connected Communication Graph. These conditions are not practical for a wide variety of multi-agent systems. In this paper we propose a new game theoretical approach for addressing distributed optimization problems that permits relaxations in the structure of the Communication Graph.
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Designing games for distributed optimization with a time varying Communication Graph
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 2012Co-Authors: Na Li, Jason R. MardenAbstract:The central goal in multi-agent systems is to engineer a decision making architecture where agents make independent decisions in response to local information while ensuring that the emergent global behavior is desirable with respect to a given system level objective. Our previous work identified a systematic methodology for such a task using the framework of state based games. One core advantage of the approach is that it provides a two step process that can be decoupled by utilizing specific classes of games. Exploiting this decomposition could lead to a rich class of distributed learning algorithm. However, a drawback of our previous approach is the dependence on a time-invariant and connected Communication Graph. These conditions are not practical for a wide variety of multi-agent systems. In this paper we propose a new game theoretical approach for addressing distributed optimization problems that permits relaxations in the structure of the Communication Graph.
Hao Zhang - One of the best experts on this subject based on the ideXlab platform.
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observer based output feedback event triggered control for consensus of multi agent systems
IEEE Transactions on Industrial Electronics, 2014Co-Authors: Hao Zhang, Gang Feng, Qijun ChenAbstract:This paper studies the consensus problem of linear multi-agent systems via observer-based event-triggered control. Two novel observer-based event-triggered control schemes, one centralized and the other distributed, are developed. It is shown that under the proposed control protocols, consensus can be reached if the underlying Communication Graph of the MAS is connected. An example is finally presented to illustrate the effectiveness of the proposed control methods.
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Distributed self-triggered control for consensus of multi-agent systems
IEEE CAA Journal of Automatica Sinica, 2014Co-Authors: Hao Zhang, Gang Feng, Qijun ChenAbstract:This paper studies the consensus problem of general linear multi-agent systems via self-triggered control. Two distributed self-triggered control schemes based on state feedback and output feedback are developed respectively. It is shown that under the proposed control protocols, consensus can be reached if the Communication Graph of the multi-agent system is connected. An example is presented to illustrate the effectiveness of the proposed control methods.
Yiguang Hong - One of the best experts on this subject based on the ideXlab platform.
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Network Synchronization with Nonlinear Inherent Dynamics and Switching Interactions
arXiv: Systems and Control, 2014Co-Authors: Tao Yang, Yiguang Hong, Ziyang Meng, Karl Henrik JohanssonAbstract:We study network synchronization for state diffusively coupled agents with identical but nonlinear inherent dynamics under switching Communication topologies. Two types of nonlinear inherent agent dynamics are considered: non-expansive and expansive. For the non-expansive case, we first introduce a new concept of $\varphi$-synchronization, i.e., the scalar function $\varphi$ of the agent state, which depends on the nonlinear inherent dynamics, converges to a common value. We then provide sufficient conditions regarding the connectivity of Communication Graphs for leaderless networks to achieve global asymptotic $\varphi$-synchronization, under directed and undirected Communications respectively. We also show that if the Communication Graph is fixed, $\varphi$-synchronization leads to state synchronization. For leader-follower networks, sufficient conditions are established regarding the connectivity of Communication Graphs for the network to achieve global asymptotic synchronization under directed and undirected Communications respectively. For the expansive case, we consider the case where the nonlinear inherent dynamics satisfies the global Lipschitz condition. Provided that a mild assumption on the connectivity of the directed Communication Graph is satisfied, sufficient conditions for leaderless and leader-follower networks to reach global exponential synchronization are established in terms of the relationship between the nonlinear inherent dynamics and the network parameters.
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Approximate Projected Consensus for Convex Intersection Computation: Convergence Analysis and Critical Error Angle
IEEE Transactions on Automatic Control, 2014Co-Authors: Karl Henrik Johansson, Yiguang HongAbstract:In this paper, we study an approximate projected consensus algorithm for a network to cooperatively compute the intersection of convex sets, where each set corresponds to one network node. Instead of assuming exact convex projection that each node can compute, we allow each node to compute an approximate projection with respect to its own set. After receiving the approximate projection information, nodes update their states by weighted averaging with the neighbors over a directed and time-varying Communication Graph. The approximate projections are related to projection angle errors, which introduces state-dependent disturbance in the iterative algorithm. Projection accuracy conditions are presented for the considered algorithm to converge. The results indicate how much projection accuracy is required to ensure global consensus to a point in the intersection set when the Communication Graph is uniformly jointly strongly connected. In addition, we show that π/4 is a critical angle for the error of the projection approximation to ensure the boundedness. Finally, the results are illustrated by simulations.
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Multi-agent consensus convergence analysis with infinitely jointly connected and directed Communication Graphs
Proceeding of the 11th World Congress on Intelligent Control and Automation, 2014Co-Authors: Yanqiong Zhang, Yiguang HongAbstract:In this paper, we investigate the connectivity conditions on consensus of discrete-time multi-agent systems with time-varying Communication Graph. We consider quite general switching Communication topologies, whose length between the switching moments may tend to infinity with the well-known uniformly joint connectivity as its special case. We prove that the persistent Graph of this network Communication Graph plays an important role in the agreement seeking, and give necessary and sufficient conditions for the global consensus.
