This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published major control systems robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial ground underwater has been a very active research subject studied extensively by the community. The recent this area are categorized into several directions, such as consensus, formation control, optimization, estimation. After review, short...

As a distributed solution to multi-agent coordination, consensus or agreement problems have been studied extensively in the literature. This paper provides survey of cooperative control with goal promoting research this area. Theoretical results regarding seeking under both time-invariant and dynamically changing information exchange topologies are summarized. Applications protocols multiagent coordination investigated. Future directions open also proposed.

This paper addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually protocols using smallest real part of nonzero eigenvalues Laplacian matrix associated graph, which however is global information. In this paper, based on only agent relative states neighboring agents, a adaptive designed to achieve leader-follower any graph containing spanning tree leader as root node. The...

This paper considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state protocols an adaptive law adjusting coupling weights between neighboring agents are designed both cases, under which is reached all undirected connected communication graphs. Extensions to case a leader-follower graph further studied. In contrast existing results in literature, here can be implemented by each agent fully fashion...

A distributed coordinated tracking problem is solved via a variable structure approach when there exists dynamic virtual leader who neighbor of only subset group followers, all followers have local interaction, and partial measurements the states are available. In context tracking, we focus on both consensus swarm algorithms. case first-order kinematics, propose algorithm without velocity under fixed switching network topologies. particular, show that can be achieved in finite time. The then...

This technical note considers the distributed tracking control problem of multiagent systems with general linear dynamics and a leader whose input is nonzero not available to any follower. Based on relative states neighboring agents, two discontinuous controllers with, respectively, static adaptive coupling gains, are designed for each follower ensure that followers converge state leader, if interaction graph among undirected, has directed paths all followers, leader's bounded. A sufficient...

In this paper, we study the consensus problem for second-order multi-agent systems with heterogeneous unknown inertias and control gains under a general directed graph. Unlike existing algorithms in which all agents are assumed to have common unit or share gains, allow be time-varying each agent. We propose fully distributed over graph when there exist, respectively, absolute velocity damping relative damping. Novel integral-type Lyapunov functions proposed convergence. Moreover, adaptive...

In this paper, a distributed optimization problem with general differentiable convex objective functions is studied for continuous-time multi-agent systems single-integrator dynamics. The multiple agents to cooperatively optimize team function formed by sum of local only interaction and information while explicitly taking into account nonuniform gradient gains, finite-time convergence, common constraint set. First, nonsmooth algorithm introduced special class that have quadratic-like form....

This note addresses the adaptive consensus problem of first-order and second-order linearly parameterized multi-agent systems with unknown identical control directions. First, we propose a new Nussbaum-type function based on which key lemma is established. The plays an important role in analyzing closed-loop systems. Second, used to design laws for so that each agent seeks direction adaptively cooperatively. Then, under assumption interconnection topology undirected connected, it proved can...

This note studies the distributed containment control problem for a group of autonomous vehicles modeled by double-integrator dynamics with multiple dynamic leaders. The objective is to drive followers into convex hull spanned leaders under constraints that velocities and accelerations both are not available, neighbors only subset followers, have local interaction. Two algorithms via position measurements agents proposed. Theoretical analysis shows will move if network topology among...

This paper studies general higher order distributed consensus protocols in multiagent dynamical systems. First, network synchronization is investigated, with some necessary and sufficient conditions derived for consensus. It found that can be reached if only all subsystems are asymptotically stable. Based on this result, regions characterized. proved the <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">m</i> th-order consensus, there at most ⌊(...

In this paper, a time-varying distributed convex optimization problem is studied for continuous-time multi-agent systems. Control algorithms are designed the cases of single-integrator and double-integrator dynamics. Two discontinuous based on signum function proposed to solve in each case. Then case dynamics, two continuous on, respectively, fixed boundary layer as approximations function. Also, account inter-agent collision physical agents, with swarm tracking behavior introduced both

We present a distributed discontinuous control algorithm for team of agents to track the average multiple time-varying reference signals with bounded derivatives. use tools from nonsmooth analysis analyze stability system. For time-invariant undirected connected network topologies, we prove that states all will converge derivatives in finite time provided gain is properly chosen. The validity this result also established scenarios switching topologies. directed topologies spanning tree, show...

Without assuming that the mobile agents can communicate with their neighbors all time, consensus problem of multi-agent systems general linear node dynamics and a fixed directed topology is investigated. To achieve consensus, new class distributed protocols designed based only on intermittent relative information are presented. By using tools from matrix analysis switching theory, it theoretically shown in periodic communication containing spanning tree be cast into stability set...

This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate unified model to describe collective behavior homogeneous platoons external disturbances using graph theory. By exploiting spectral decomposition symmetric matrix, dynamics is equivalently decomposed into set subsystems sharing same size one single vehicle. Then, we provide an explicit scaling...