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On Communication Requirements for Multi-agent Consensus Seeking
 

Summary: On Communication Requirements for
Multi-agent Consensus Seeking
Lei Fang and Panos J. Antsaklis
Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN
46556, USA, {lfang,antsaklis.1}@nd.edu
Several consensus protocols have been proposed in the literature and their
convergence properties studied via a variety of methods. In all these methods,
the communication topologies play a key role in the convergence of consensus
processes. The goal of this paper is two fold. First, we explore communi-
cation topologies, as implied by the communication assumptions, that lead
to consensus among agents. For this, several important results in the liter-
ature are examined and the focus is on different classes of communication
assumptions being made, such as synchronism, connectivity, and direction of
communication. In the latter part of this paper, we show that the conflu-
ent iteration graph unifies various communication assumptions and proves to
be fundamental in understanding the convergence of consensus processes. In
particular, based on asynchronous iteration methods for nonlinear paracon-
tractions, we establish a new result which shows that consensus is reachable
under directional, time-varying and asynchronous topologies with nonlinear
protocols. This result extends the existing ones in the literature and have

  

Source: Antsaklis, Panos - Department of Electrical Engineering, University of Notre Dame

 

Collections: Engineering