# Difference between revisions of "Consensus Problem and Algorithms"

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<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --> | <!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful --> | ||

<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --> | <!-- Sample lecture link: * [[Media:L1-1_Intro.pdf|Lecture: Networked Control Systems: Course Overview]] --> | ||

* [[Media:270-2-8-1-lecturenotes2.pdf|Lecture: Consensus Problem and Algorithms]] | |||

== Reading == | == Reading == | ||

<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --> | <!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. --> | ||

* <p>[http://prola.aps.org/abstract/PRL/v75/i6/p1226_1 Novel Type of Phase Transition in a System of Self-Driven Particles], Tamás Vicsek, András Czirók, Eshel Ben-Jacob, Inon Cohen, and Ofer Shochet, Physical Review Letters, vol. 75, issue 6, 1226-1229, 1995. A distributed behavioural model of a group of animals.</p> | |||

*<p>[http://www.seas.upenn.edu/~jadbabai/papers/JadLiMorseTAC_June03.pdf Coordination of groups of mobile autonomous agents using nearest neighbor rules], A. Jadbabaie, J. Lin, and A. S. Morse, IEEE Transactions on Automatic Control, Vol. 48, No. 6, June 2003, pp. 988-1001. A good reference for discrete time consensus algorithms and theoretical explanation for consensus of multi-agent systems using nearest neighbor rules.</p> | |||

*<p>[http://www.cds.caltech.edu/~murray/papers/2003f_om04-tac.html Consensus problems in networks of agents with switching topology and time-delays], R. Olfati-Saber and R. M. Murray, IEEE Transactions on Automatic Control, vol. 49, 1520-1533, Sept. 2004. A good reference for continuous time consensus algorithms. </p> | |||

*<p>[http://http://ieeexplore.ieee.org/search/srchabstract.jsp?arnumber=1431045&isnumber=30864&punumber=9&k2dockey=1431045@ieeejrns&query=%28+beard%3Cin%3Eau+%29&pos=0 Consensus seeking in multi-agent systems under dynamically changing interaction topologies], W. Ren and R. W. Beard, IEEE Transactions on Automatic Control, vol. 50, issue 5, 655-661, May 2005.</p> | |||

== Additional Resources == | == Additional Resources == | ||

<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --> | <!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. --> | ||

*<p>[http://www.amazon.com/gp/product/0521386322/002-0302673-7388830?v=glance&n=283155 Matrix Analysis], R. A. Horn and C.R. Johnson, Cambridage University Press, 1985. A good book for stochastic matrix analysis.</p> | |||

*<p>[http://www.amazon.com/exec/obidos/ASIN/0387952209/drgordonroyle/002-0302673-7388830 Algebraic Graph Theory] G. Royle and C. Godsil, Springer, Graduate Texts in Mathematices, 2001. </p> |

## Latest revision as of 23:34, 14 May 2006

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## Lecture Materials

## Reading

Novel Type of Phase Transition in a System of Self-Driven Particles, Tamás Vicsek, András Czirók, Eshel Ben-Jacob, Inon Cohen, and Ofer Shochet, Physical Review Letters, vol. 75, issue 6, 1226-1229, 1995. A distributed behavioural model of a group of animals.

Coordination of groups of mobile autonomous agents using nearest neighbor rules, A. Jadbabaie, J. Lin, and A. S. Morse, IEEE Transactions on Automatic Control, Vol. 48, No. 6, June 2003, pp. 988-1001. A good reference for discrete time consensus algorithms and theoretical explanation for consensus of multi-agent systems using nearest neighbor rules.

Consensus problems in networks of agents with switching topology and time-delays, R. Olfati-Saber and R. M. Murray, IEEE Transactions on Automatic Control, vol. 49, 1520-1533, Sept. 2004. A good reference for continuous time consensus algorithms.

Consensus seeking in multi-agent systems under dynamically changing interaction topologies, W. Ren and R. W. Beard, IEEE Transactions on Automatic Control, vol. 50, issue 5, 655-661, May 2005.

## Additional Resources

Matrix Analysis, R. A. Horn and C.R. Johnson, Cambridage University Press, 1985. A good book for stochastic matrix analysis.

Algebraic Graph Theory G. Royle and C. Godsil, Springer, Graduate Texts in Mathematices, 2001.