IEEE Proceedings Paper on Concensus and Cooperative Control - Revision history

Murray at 15:13, 18 April 2005

2005-04-18T15:13:28Z

← Older revision		Revision as of 15:13, 18 April 2005
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	Consensus and Cooperation in Multi-Agent Networked Systems		Consensus and Cooperation in Multi-Agent Networked Systems

			* [[IEEE Paper, 18 Apr 05]]

	The availability of low cost, high bandwidth, wireless communications		The availability of low cost, high bandwidth, wireless communications

Demetri at 20:11, 12 April 2005

2005-04-12T20:11:45Z

← Older revision		Revision as of 20:11, 12 April 2005
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	== Tabuada ==		== Tabuada ==

	* P. Tabuada, G. J. Pappas, and P. Lima. Feasible formations of multi-agent		* P. Tabuada, G. J. Pappas, and P. Lima.
	systems. In Proceedings of the American Control Conference, pages 56Ð61,		Feasible formations of multi-agent systems. In Proceedings of the American
	2001.		Control Conference, pages 56Ð61, 2001.

	== Fax et al, Information Flow ==		== Fax et al, Information Flow ==
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	* IFAC conference papers		* IFAC conference papers

	* Fax, J. A. and Murray, R. M., Information flow and cooperative control of		* Fax, J. A. and Murray, R. M.
	vehicle formations, The IEEE Transactions on Automatic Control,
	49(9):1465--1476, 2004.		Information flow and cooperative control of vehicle formations, The
			IEEE Transactions on Automatic Control, 49(9):1465--1476, 2004.

	Basic idea of Laplacian feedback, associated performance issues with Nyquist		Basic idea of Laplacian feedback, associated performance issues with Nyquist
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	== Olfati-Saber, Consensus ==		== Olfati-Saber, Consensus ==

	* Olfati-Saber, R. and Murray, R. M., Consensus protocols for networks of		* Olfati-Saber, R. and Murray, R. M.
	dynamic agents, Proc. of the American Control Conference, 2003.		Consensus protocols for networks of dynamic agents, Proc. of the
			American Control Conference, 2003.

	* Olfati-Saber, R. and Murray, R. M., Consensus problems in networks of		* Olfati-Saber, R. and Murray, R. M.
	agents with switching topology and time-delays}", IEEE Transactions on		Consensus problems in networks of agents with switching topology and
	Automatic Control, 49(9):1520--1533, 2004.		time-delays}", IEEE Transactions on Automatic Control, 49(9):1520--1533, 2004.

	Laplacian feedback for average consensus, notion of balanced graph;		Laplacian feedback for average consensus, notion of balanced graph;
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	switching of $\Gamma_k$'s in \cite{Jadbabaie_Lin_Morse:2003}.		switching of $\Gamma_k$'s in \cite{Jadbabaie_Lin_Morse:2003}.

	* R. Olfati-Saber, Ultrafast Consensus on Small-World Networks, American		* R. Olfati-Saber
	Control Conference, 2005.		Ultrafast Consensus on Small-World Networks, American Control Conference, 2005.

	"Phase-transition" behavior in lambda2 under random re-wiring of network (a		"Phase-transition" behavior in lambda2 under random re-wiring of network (a
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	== Jadbabaie ==		== Jadbabaie ==

	* Jadbabaie, A. and Lin, J. and Morse, A. S., Coordination of groups of		* Jadbabaie, A. and Lin, J. and Morse, A. S.
	mobile agents using nearest neighbor rules, IEEE Trans. on Automatic
	Control, 48(6):988--1001, 2003.		Coordination of groups of mobile agents using nearest neighbor rules,
			IEEE Trans. on Automatic Control, 48(6):988--1001, 2003.

	Convergence/alignment in mobile agents; essentially a special case of a		Convergence/alignment in mobile agents; essentially a special case of a
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	== Moreau ==		== Moreau ==

	* Moreau, Luc, Leaderless coordination via bidirectional and unidirectional		* Moreau, Luc
			Leaderless coordination via bidirectional and unidirectional
	time-dependent communication. IEEE Conference on Decision and Control,		time-dependent communication. IEEE Conference on Decision and Control,
	2003		2003

	* Moreau, Luc (Sidmar) Stability of continuous-time distributed consensus		* Moreau, Luc (Sidmar)
			Stability of continuous-time distributed consensus
	algorithms IEEE Conference on Decision and Control, 2004		algorithms IEEE Conference on Decision and Control, 2004

	* Moreau, Luc, Stability of multiagent systems with time-dependent		* Moreau, Luc
			Stability of multiagent systems with time-dependent
	communication links, IEEE Transactions on Automatic Control,		communication links, IEEE Transactions on Automatic Control,
	50(2):169--182, 2005.		50(2):169--182, 2005.
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	== Olfati-Saber, Flocking ==		== Olfati-Saber, Flocking ==

	* Olfati-Saber, R., Flocking for Multi-Agent Dynamic Systems: Theory and		* Olfati-Saber, R.
			Flocking for Multi-Agent Dynamic Systems: Theory and
	Algorithms, IEEE TAC (accepted), 2005.		Algorithms, IEEE TAC (accepted), 2005.

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	== Mesbahi ==		== Mesbahi ==

	* Y. Hatano and M. Mesbahi, Agreement over random networks IEEE Conference		* Y. Hatano and M. Mesbahi
			Agreement over random networks IEEE Conference
	on Decision and Control (CDC), 2004		on Decision and Control (CDC), 2004

	* M. Mesbahi, On state-dependent dynamic graphs and their controllability		* M. Mesbahi
			On state-dependent dynamic graphs and their controllability
	properties. IEEE Conference on Decision and Control (CDC), 2004		properties. IEEE Conference on Decision and Control (CDC), 2004

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	== Xiao/Boyd ==		== Xiao/Boyd ==

	* L Xiao and S. Boyd, Fast linear iterations for distributed averaging,		* L Xiao and S. Boyd
			Fast linear iterations for distributed averaging,
	Systems \& Control Letters, 52:65--78, 2004.		Systems \& Control Letters, 52:65--78, 2004.

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	== Ren and Beard et al ==		== Ren and Beard et al ==

	* Wei Ren, Randal W. Beard, "Consensus Seeking in Multi-agent Systems Using		* Wei Ren, Randal W. Beard
			"Consensus Seeking in Multi-agent Systems Using
	Dynamically Changing Interaction Topologies," IEEE Transactions on		Dynamically Changing Interaction Topologies," IEEE Transactions on
	Automatic Control, (to appear)		Automatic Control, (to appear)

	* Wei Ren, Randal W. Beard, Timothy W. McLain, "Coordination Variables and		* Wei Ren, Randal W. Beard, Timothy W. McLain
			"Coordination Variables and
	Consensus Building in Multiple Vehicle Systems,'' Block Island Workshop on		Consensus Building in Multiple Vehicle Systems,'' Block Island Workshop on
	Cooperative Control, Editors Vijay Kumar, Naomi Leonard, A. Stephen Morse,		Cooperative Control, Editors Vijay Kumar, Naomi Leonard, A. Stephen Morse,

Demetri at 20:01, 12 April 2005

2005-04-12T20:01:15Z

Show changes

Murray at 16:29, 11 April 2005

2005-04-11T16:29:04Z

New page

Consensus and Cooperation in Multi-Agent Networked Systems

The availability of low cost, high bandwidth, wireless communications
between independent computing systems has enabled new approaches to
cooperation between multi-agent systems performing a common task. In
situations where the tasks involve motion control or other non-trivial
process dynamics, the overall stability and performance of the cooperative
system is dependent on the interaction between the topology of the
information flow between the agents (who talks to who) as well as the
individual dynamics of the agents. In this paper we explore two
representative problems---consensus and formation control---and their
applications in control of networked, multi-vehicle systems performing
cooperative tasks.

Consensus refers to the problem of a set of distributed computers agreeing
on some common quantity. The simplest version of this problem, which we
call average consensus, requires the agents to agree on the average value
of a set of quantities that are known to each individual agent. In
vehicle applications, this often must be done in the presence of varying
information topology, for example when a collection of robots are trying
to agree on the position of a sensed object while moving and changing the
topology of their wireless network connections. We present a framework
for studying the concensus problems that models the information flow using
the graph Laplacian and gives a provably correct consensus protocol in the
presence of switching topology and delays.

Using the same graph theoretic methods, we also consider the the problem
of cooperation among a collection of vehicles performing a shared task
using intervehicle communication to coordinate their actions. We provide
a Nyquist-like criterion that uses the eigenvalues of the graph Laplacian
matrix to determine the effect of the graph on formation stability. We
also demonstrate how to use concensus to improve the performance of the
system, by supplying each vehicle with a common reference to be used for
cooperative motion. A separation principle that states that formation
stability is achieved if the information flow is stable for the given
graph and if the local controller stabilizes the vehicle. The information
flow can be rendered highly robust to changes in the graph, thus enabling
tight formation control despite limitations in intervehicle communication
capability.

I. Introduction and Motivation

II. Basic Tools

III. Consensus

IV. Cooperation

V. Future Directions

--

== Topics ==
1. Nyquist/Laplacian ] Fiedeler vectors -> decomposition
2. Consensus/balanced graphs ] of multi-agent groups
3. Switching (incl. Ali, Moreau) ]
4. Performance (lambda_2, feedfwd, etc)
5. Distributed information processing
6. Tools: graph theory, stochastic matrices, Lyapunov
7. Asynchronous consensus (Mesbahi)
8. Alignment in flocking (proximity graphs, post-induced graphs)

== Actions ==
1. Assemble bibliography
* Send papers to Richard by Mon, 5 pm
* Post to wiki (Demetri)

2. Pick subset to cover ] Meet in ~2 weeks
3. Common notation/language ] 18 Apr
4. Common problems ]

5. List tools ] Meet in ~2 weeks
6. Diversions/open problems ] 6 May
7. Outline ]

8. Write ] Finish by 6/15/05

Compelling benchmark problem
* perhaps something that might be mobile sensor network