Sam Safavi

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In this letter, we characterize the finite-time behavior on arbitrary undirected graphs. In particular, we derive distributed iterations that are a function of a linear operator on the underlying graph and show that any arbitrary initial condition can be forced to lie on a particular subspace in a finite time. This subspace can be chosen to have the same(More)
In this paper, we investigate asymptotic stability of linear time-varying systems with (sub-) stochastic system matrices. Motivated by distributed dynamic fusion over networks of mobile agents, we impose some mild regularity conditions on the elements of time-varying system matrices. We provide sufficient conditions under which the asymptotic stability of(More)
In this letter, we study the consensus-based leader-follower algorithm in mobile sensor networks, where the goal for the entire network is to converge to the state of a leader. We capture the mobility in the leader-follower algorithm by abstracting it as a Linear Time-Varying (LTV) system with random system matrices. In particular, a mobile node, moving(More)
In this paper, we consider a Linear Time-Varying (LTV) model to describe the dynamics of a leader-follower algorithms with mobile agents. We first develop regularity conditions on the LTV system matrices, according to a random motion of the agents and the underlying communication protocol. We then study the convergence of all agents to the state of the(More)
In this paper, we discuss the problem of tracking the locations of an arbitrary number of agents moving in a bounded region. Assuming that each agent knows its motion precisely, and also its distances and angles to the nodes in its communication radius, we provide a geometric approach to continually update the distances and angles even when the agents move(More)
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