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Reaching a consensus in a dynamically changing environment - convergence rates, measurement delays and asynchronous events

Cao, Ming; Morse, A Stephen; Anderson, Brian


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...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Journal article
Source: Siam Journal on Control and Optimization
DOI: 10.1137/060657029


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