Consensus and Cooperation in Networked Multi-Agent Systems

@article{OlfatiSaber2007ConsensusAC,
  title={Consensus and Cooperation in Networked Multi-Agent Systems},
  author={R. Olfati-Saber and J. Fax and R. Murray},
  journal={Proceedings of the IEEE},
  year={2007},
  volume={95},
  pages={215-233}
}
This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory… Expand
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