Distributed average consensus with least-mean-square deviation
Journal of Parallel and Distributed Computing
State Agreement for Continuous-Time Coupled Nonlinear Systems
SIAM Journal on Control and Optimization
The Multi-Agent Rendezvous Problem. Part 2: The Asynchronous Case
SIAM Journal on Control and Optimization
Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications
Distributed Consensus in Multi-vehicle Cooperative Control: Theory and Applications
Practical multiagent rendezvous through modified circumcenter algorithms
Automatica (Journal of IFAC)
IEEE Journal on Selected Areas in Communications
A geometric approach to collective motion
Proceedings of the twenty-sixth annual symposium on Computational geometry
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We present conditions under which a general class of multiagent systems subject to noise can reach agreement in expected value with probability one. The noise can be induced by the fact that each agent takes erroneous measurements of neighbors' positions. The class of systems considered may be nonlinear and requires that the diameter of the agents be bounded for all possible error measurements. The convergence result is related to previous work on the robustness of the rendezvous algorithm and the stability of multiagent systems with periodic connectivity. We illustrate the results in terms of a modified discrete-time Kuramoto system, which is amended to guarantee the system requirements.