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Reaching a Consensus in a Dynamically Changing Environment: Convergence Rates, Measurement Delays, and Asynchronous Events

The work

AuthorsMing Cao; A. Stephen Morse; Brian D. O. Anderson
Editors
Typearticle
Year2008
Citekeycao2008reachingb

Where it appeared

Published inSIAM Journal on Control and Optimization
PublisherSociety for Industrial and Applied Mathematics
Volume47
Issue2
Pages601--623

Identifiers

DOI10.1137/060657029
OpenAlexW2159499856

Access

Landing pagehttps://doi.org/10.1137/060657029

From OpenAlex, which stores abstracts as an index of words and their positions: what is shown is rebuilt from that, and reads fluently whether or not it is what the author wrote.

Abstract

This paper uses recently established properties of compositions of directed graphs together with results from the theory of nonhomogeneous Markov chains to derive worst case convergence rates for the headings of a group of mobile autonomous agents which arise in connection with the widely studied Vicsek consensus problem. The paper also uses graph-theoretic constructions to solve modified versions of the Vicsek problem in which there are measurement delays, asynchronous events, or a group leader. In all three cases the conditions under which consensus is achieved prove to be almost the same as the conditions under which consensus is achieved in the synchronous, delay-free, leaderless case.

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Cite it as

@article{cao2008reachingb,
  title        = {Reaching a Consensus in a Dynamically Changing Environment: Convergence Rates, Measurement Delays, and Asynchronous Events},
  author       = {Ming Cao and A. Stephen Morse and Brian D. O. Anderson},
  year         = {2008},
  journal      = {SIAM Journal on Control and Optimization},
  publisher    = {Society for Industrial and Applied Mathematics},
  volume       = {47},
  number       = {2},
  pages        = {601--623},
  doi          = {10.1137/060657029},
}

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