• Publications
  • Influence
Consensus seeking in multiagent systems under dynamically changing interaction topologies
  • W. Ren, R. Beard
  • Mathematics, Computer Science
    IEEE Transactions on Automatic Control
  • 16 May 2005
TLDR
It is shown that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves.
Distributed Consensus in Multi-vehicle Cooperative Control - Theory and Applications
  • W. Ren, R. Beard
  • Computer Science
    Communications and Control Engineering
  • 12 December 2007
TLDR
Academic control systems researchers and their counterparts in government laboratories and robotics- and aerospace-related industries will find the ideas presented in Distributed Consensus in Multi-vehicle Cooperative Control of great interest.
Distributed multi‐vehicle coordinated control via local information exchange
TLDR
This paper introduces second-order consensus protocols that take into account motions of the information states and their derivatives, extending first-order protocols from the literature and derives necessary and sufficient conditions under which consensus can be reached in the context of unidirectional information exchange topologies.
Information consensus in multivehicle cooperative control
The purpose of this article is to provide a tutorial overview of information consensus in multivehicle cooperative control. Theoretical results regarding consensus-seeking under both time invariant
On Consensus Algorithms for Double-Integrator Dynamics
  • W. Ren
  • Mathematics, Computer Science
    IEEE Trans. Autom. Control.
  • 29 August 2008
TLDR
This note shows that consensus is reached asymptotically for the first two cases if the undirected interaction graph is connected and for the third case if the directed interaction graph has a directed spanning tree and the gain for velocity matching with the group reference velocity is above a certain bound.
An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination
TLDR
This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006, and proposes several promising research directions.
Distributed Coordinated Tracking With Reduced Interaction via a Variable Structure Approach
A distributed coordinated tracking problem is solved via a variable structure approach when there exists a dynamic virtual leader who is a neighbor of only a subset of a group of followers, all
Multi-vehicle consensus with a time-varying reference state
  • W. Ren
  • Mathematics, Computer Science
    Syst. Control. Lett.
  • 1 July 2007
TLDR
This paper first analyzes a consensus algorithm with a constant reference state using graph theoretical tools, then proposes consensus algorithms with a time-varying reference state and shows necessary and sufficient conditions under which consensus is reached on the time-Varyingreference state.
A survey of consensus problems in multi-agent coordination
As a distributed solution to multi-agent coordination, consensus or agreement problems have been studied extensively in the literature. This paper provides a survey of consensus problems in
Distributed finite-time attitude containment control for multiple rigid bodies
TLDR
A distributed sliding-mode estimator and a non-singular sliding surface were given to guarantee that the attitudes and angular velocities of the followers converge, respectively, to the dynamic convex hull formed by those of the leaders in finite time.
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