View source for Consensus Protocols for Networks of Dynamic Agents

{{HTDB paper
| authors = Reza Olfati-Saber and Richard M. Murray
| title = Consensus Protocols for Networks of Dynamic Agents
| source = 2003 American Control Conference
| year = 2002
| type =  Conference 
  Paper
| funding = AFOSR/MURI
| url = http://www.cds.caltech.edu/~murray/preprints/om03-acc.pdf
| abstract = 
In this paper, we introduce a consensus protocol for a network of dynamic 
agents that allows the agents to reach 
a decision in a distributed and cooperative 
fashion. We consider both linear and nonlinear protocols as well as 
the characteristic function of the communication links in the network. 
This includes links with delay and (possible) distortion/filtering effects. 
It turns out that for a number of protocols, the convergence properties 
and the decision-value obtained via this protocol is strongly related 
to connectivity and algebraic graph theoretic properties of the information 
flow in the network of decision-making agents. Standard 
tools from multivariable control and linear control theory such as Nyquist 
plots appear naturally for convergence analysis of the obtained linear 
protocols. For the analysis of the nonlinear protocols, certain 
disagreement costs are constructed that are minimized by the consensus 
protocols in a distributed way. Simulation results are provided for attitude 
alignment of a group of 20 dynamic agents. 

| flags = 
| tag = om03-acc
| id = 2002o
}}