相关论文
2015 - AAMAS
Cybersecurity as an Application Domain for Multiagent Systems

The science of cybersecurity has recently been garnering much attention among researchers and practitioners dissatisfied with the ad hoc nature of much of the existing work on cybersecurity. Cybersecurity offers a great opportunity for multiagent systems research. We motivate cybersecurity as an application area for multiagent systems with an emphasis on normative multiagent systems. First, we describe ways in which multiagent systems could help advance our understanding of cybersecurity and provide a set of principles that could serve as a foundation for a new science of cybersecurity. Second, we argue how paying close attention to the challenges of cybersecurity could expose the limitations of current research in multiagent systems, especially with respect to dealing with considerations of autonomy and interdependence.

2002 - IEEE Intell. Syst.
ExperNet: An Intelligent Multiagent System for WAN Management

The authors describe ExperNet, an intelligent multiagent system developed to assist in managing large-scale data networks. The system assists network operators at various nodes of a WAN to detect and diagnose hardware failures and network traffic problems, suggesting the most feasible solution through a Web-based interface.

2002
Self-Organization in Multiagent Systems: From Agent Interaction to Agent Organization

In this paper we suggest a new sociological concept to the study of (self-) organization in multiagent systems. First, we discuss concepts of (self-) organization typically used in DAI. From a sociological point of view all these concepts are missing the special quality of organizations as self-organizing social entities. Therefore we present a concept of organization based on the habitus-field theory of Pierre Bourdieu. With reference to this theory, organizations are viewed as both “autonomous social fields” and “corporate agents” which are competing with other organizations in the same domain. Finally, we describe the Framework for Self-Organization and Robustness in Multiagent systems (FORM) corresponding to these sociological characteristics of organizations. This framework uses delegation as the central concept to define organizational forms and relationships in task assignment multiagent systems.

1998
Decision theory and coordination in multiagent systems

The aim of this report is to provide an introduction to the theoretical foundations of rational decision making and to give an overview of how decision theory and game theory relate to the field of multiagent systems. We start with presenting the basic framework of classic decision and game theory as it was defined by von Neumann and Morgenstern and continue with explaining the approach of Rosenschein and Zlotkin to apply game theory to multiagent systems. Subsequently, we investigate the principles of coordination mechanism design from an economic point of view and present several auction-based allocation mechanisms. Finally, the transportation domain is introduced as an application example in order to show the importance of the presented concepts in real-world multiagent applications.

2016
Synchronization and Control of Multiagent Systems

Multiple intelligent agent systems are commonly used in research requiring complex behavior. Synchronization control provides an advantage in solving the problem of multi-agent coordination. This book focuses on the use of synchronization control to coordinate the group behavior of multiple agents. The author includes numerous real-world application examples from robotics, automation, and advanced manufacturing. Giving a detailed look at cross-coupling based synchronization control, the text covers such topics as adaptive synchronization control, synchronous tracking control of parallel manipulators, and minimization of contouring errors of CNC machine tools with synchronization controls.

2017 - IEEE Transactions on Cybernetics
Flocking of Second-Order Multiagent Systems With Connectivity Preservation Based on Algebraic Connectivity Estimation

The problem of flocking of second-order multiagent systems with connectivity preservation is investigated in this paper. First, for estimating the algebraic connectivity as well as the corresponding eigenvector, a new decentralized inverse power iteration scheme is formulated. Then, based on the estimation of the algebraic connectivity, a set of distributed gradient-based flocking control protocols is built with a new class of generalized hybrid potential fields which could guarantee collision avoidance, desired distance stabilization, and the connectivity of the underlying communication network simultaneously. What is important is that the proposed control scheme allows the existing edges to be broken without violation of connectivity constraints, and thus yields more flexibility of motions and reduces the communication cost for the multiagent system. In the end, nontrivial comparative simulations and experimental results are performed to demonstrate the effectiveness of the theoretical results and highlight the advantages of the proposed estimation scheme and control algorithm.

2017 - J. Frankl. Inst.
Event-based consensus for second-order multi-agent systems with actuator saturation under fixed and Markovian switching topologies

Abstract This paper studies the event-based consensus problem of second-order multi-agent systems with actuator saturation under fixed topology and Markovian switching topologies. By a model transformation, the consensus problem is first converted into the stability problem of the error system. Using discontinuous Lyapunov functional approach, two sufficient conditions on the consensus are derived for second-order multi-agent systems with fixed topology and Markovian switching topologies, respectively. The discontinuous Lyapunov functions take full account of the characteristics of the sawtooth delay, and thus lead to a less conservative consensus criterion. It is shown that the consensus condition depends on the parameters of sampling period, Laplacian matrix, and event-triggered parameter. In addition, this paper provides an effective method to co-design both the consensus controller and the event-triggered parameter. Finally, two numerical examples are provided to illustrate the effectiveness and feasibility of the proposed algorithm.

2018 - ICML
Learning Policy Representations in Multiagent Systems

Modeling agent behavior is central to understanding the emergence of complex phenomena in multiagent systems. Prior work in agent modeling has largely been task-specific and driven by hand-engineering domain-specific prior knowledge. We propose a general learning framework for modeling agent behavior in any multiagent system using only a handful of interaction data. Our framework casts agent modeling as a representation learning problem. Consequently, we construct a novel objective inspired by imitation learning and agent identification and design an algorithm for unsupervised learning of representations of agent policies. We demonstrate empirically the utility of the proposed framework in (i) a challenging high-dimensional competitive environment for continuous control and (ii) a cooperative environment for communication, on supervised predictive tasks, unsupervised clustering, and policy optimization using deep reinforcement learning.

2010 - Energies
A Multiagent System for Autonomous Operation of Islanded Microgrids Based on a Power Market Environment

One of the most important requirements of microgrid operation is to maintain a constant frequency such as 50 Hz or 60 Hz, which is closely related to a power balance between supply and demand. In general, microgrids are connected to power grids and surplus/shortage power of microgrids is traded with power grids. Since islanded microgrids are isolated from any power grids, the decrease in generation or load-shedding can be used to maintain the frequency when a power imbalance between supply and demand occurs. The power imbalance restricts the electricity use of consumers in the case of supply shortage and the power supply of suppliers in the case of supply surplus. Therefore, the islanded microgrid should be operated to reduce power imbalance conditions. Meanwhile, the microgrid is a small-scale power system and the employment of skillful operators for effective operation of its components requires high costs. Therefore, automatic operation of the components is effective realistically. In addition, the components are distributed in the microgrid and their operation should consider their owners’ profits. For these reasons, a multiagent system application can be a good alternative for microgrid operation. In this paper, we present a multiagent system for autonomous operation of the islanded microgrid on a power market environment. The proposed multiagent system is designed based on a cooperative operation scheme. We show the functionality and the feasibility of the proposed multiagent system through several tests.

2016 - IEEE Transactions on Control Systems Technology
A Distributed Control Reconfiguration and Accommodation for Consensus Achievement of Multiagent Systems Subject to Actuator Faults

This paper tackles the development of distributed control reconfiguration and fault accommodation strategies for consensus achievement in multiagent systems in the presence of faulty agents whose actuators are unable to produce their nominal control efforts. A faulty agent can adversely affect and prevent the team from reaching agreement and lead to catastrophic mission performance degradations. To ensure that the faulty team pursues its consensus objectives, in this paper, on-line distributed control reconfiguration strategies are developed that employ only nearest neighbor information to guarantee the team consensus while minimizing a local cost performance index. Toward the above end, the distributed Hamilton-Jacobi-Bellman equations for the faulty agent are derived and novel reconfigured controllers are designed by solving the above equations subject to the faulty agent dynamics and network structure constraints to ensure fault accommodation of the entire team. Our proposed reconfigurable controllers are applied to a network of autonomous underwater vehicles subject to actuator faults to demonstrate and illustrate the effectiveness and capabilities of our proposed fault recovery control strategies.

2014 - Syst. Control. Lett.
Distributed adaptive consensus for multiple mechanical systems with switching topologies and time-varying delay

Abstract This paper studies the adaptive consensus problem of networked mechanical systems with time-varying delay and jointly-connected topologies. Two different consensus protocols are proposed. First, we present an adaptive consensus protocol for the connected switching topologies. Based on graph theory, Lyapunov stability theory and switching control theory, the stability of the proposed algorithm is demonstrated. Then we investigate the problem under the more general jointly-connected topologies, and with concurrent time-varying communication delay. The proposed consensus protocol consists of two parts: one is for the connected agents which contains the current states disagreement among them and the other is designed for the isolated agents which contains the states difference between the current and past. A distinctive feature of this work is to address the consensus control problem of mechanical systems with unknown parameters, time-varying delay and switching topologies in a unified theoretical framework. Numerical simulation is provided to demonstrate the effectiveness of the obtained results.

2010 - IEEE Transactions on Neural Networks
Neural-Network-Based Adaptive Leader-Following Control for Multiagent Systems With Uncertainties

A neural-network-based adaptive approach is proposed for the leader-following control of multiagent systems. The neural network is used to approximate the agent's uncertain dynamics, and the approximation error and external disturbances are counteracted by employing the robust signal. When there is no control input constraint, it can be proved that all the following agents can track the leader's time-varying state with the tracking error as small as desired. Compared with the related work in the literature, the uncertainty in the agent's dynamics is taken into account; the leader's state could be time-varying; and the proposed algorithm for each following agent is only dependent on the information of its neighbor agents. Finally, the satisfactory performance of the proposed method is illustrated by simulation examples.

2013 - IEEE Transactions on Neural Networks and Learning Systems
Tracking Algorithms for Multiagent Systems

This paper is devoted to the consensus tracking issue on multiagent systems. Instead of enabling the networked agents to reach an agreement asymptotically as the time tends to infinity, the consensus tracking between agents is considered to be derived on a finite time interval as accurately as possible. We thus propose a learning algorithm with a gain operator to be determined. If the gain operator is designed in the form of a polynomial expression, a necessary and sufficient condition is obtained for the networked agents to accomplish the consensus tracking objective, regardless of the relative degree of the system model of agents. Moreover, the H∞ analysis approach is introduced to help establish conditions in terms of linear matrix inequalities (LMIs) such that the resulting processes of the presented learning algorithm can be guaranteed to monotonically converge in an iterative manner. The established LMI conditions can also enable the iterative learning processes to converge with an exponentially fast speed. In addition, we extend the learning algorithm to address the relative formation problem for multiagent systems. Numerical simulations are performed to demonstrate the effectiveness of learning algorithms in achieving both consensus tracking and relative formation objectives for the networked agents.

2018 - IEEE Transactions on Cybernetics
Finite-Horizon $H_\infty $ Consensus for Multiagent Systems With Redundant Channels via An Observer-Type Event-Triggered Scheme

This paper is concerned with the finite-horizon <inline-formula> <tex-math notation="LaTeX">${H_\infty }$ </tex-math></inline-formula> consensus problem for a class of discrete time-varying multiagent systems with external disturbances and missing measurements. To improve the communication reliability, redundant channels are introduced and the corresponding protocol is constructed for the information transmission over redundant channels. An event-triggered scheme is adopted to determine whether the information of agents should be transmitted to their neighbors. Subsequently, an observer-type event-triggered control protocol is proposed based on the latest received neighbors’ information. The purpose of the addressed problem is to design a time-varying controller based on the observed information to achieve the <inline-formula> <tex-math notation="LaTeX">${H_\infty }$ </tex-math></inline-formula> consensus performance in a finite horizon. By utilizing a constrained recursive Riccati difference equation approach, some sufficient conditions are obtained to guarantee the <inline-formula> <tex-math notation="LaTeX">${H_\infty }$ </tex-math></inline-formula> consensus performance, and the controller parameters are also designed. Finally, a numerical example is provided to demonstrate the desired reliability of redundant channels and the effectiveness of the event-triggered control protocol.

2013 - SIAM J. Control. Optim.
Consensus of Discrete-Time Second-Order Multiagent Systems Based on Infinite Products of General Stochastic Matrices

Traditionally, the consensus of a discrete-time multiagent system (MAS) with a switching topology is transformed into the convergence problem of the infinite products of stochastic matrices, which can be resolved by using the Wolfowitz theorem. However, such a transformation is very difficult or even impossible for certain MASs, such as discrete-time second-order MASs (DTSO MASs), whose consensus can only be transformed into the convergence problem of the infinite products of general stochastic matrices (IPGSM). These general stochastic matrices are matrices with row sum 1 but their elements are not necessarily nonnegative. Since there does not exist a general theory or an effective technique for dealing with the convergence of IPGSM, establishing the consensus criteria for a DTSO MAS with a switching topology is rather difficult. This paper concentrates on the consensus problem of a class of DTSO MASs and develops a method to cope with the corresponding IPGSM. Moreover, it is pointed out that the method ...

2012 - WPES '12
Differentially private iterative synchronous consensus

The iterative consensus problem requires a set of processes or agents with different initial values, to interact and update their states to eventually converge to a common value. Protocols solving iterative consensus serve as building blocks in a variety of systems where distributed coordination is required for load balancing, data aggregation, sensor fusion, filtering, and synchronization. In this paper, we introduce the private iterative consensus problem where agents are required to converge while protecting the privacy of their initial values from honest but curious adversaries. Protecting the initial states, in many applications, suffice to protect all subsequent states of the individual participants. We adapt the notion of differential privacy in this setting of iterative computation. Next, we present (i) a server-based and (ii) a completely distributed randomized mechanism for solving differentially private iterative consensus with adversaries who can observe the messages as well as the internal states of the server and a subset of the clients. Our analysis establishes the tradeoff between privacy and the accuracy: for given ε, b >0, the ε-differentially private mechanism for N agents, is guaranteed to convergence to a value within O(⁄1/ε √bN) of the average of the initial values, with probability at least (1-b).

2017 - ArXiv
Consensus in the Age of Blockchains

The blockchain initially gained traction in 2008 as the technology underlying bitcoin, but now has been employed in a diverse range of applications and created a global market worth over $150B as of 2017. What distinguishes blockchains from traditional distributed databases is the ability to operate in a decentralized setting without relying on a trusted third party. As such their core technical component is consensus: how to reach agreement among a group of nodes. This has been extensively studied already in the distributed systems community for closed systems, but its application to open blockchains has revitalized the field and led to a plethora of new designs. The inherent complexity of consensus protocols and their rapid and dramatic evolution makes it hard to contextualize the design landscape. We address this challenge by conducting a systematic and comprehensive study of blockchain consensus protocols. After first discussing key themes in classical consensus protocols, we describe: first protocols based on proof-of-work (PoW), second proof-of-X (PoX) protocols that replace PoW with more energy-efficient alternatives, and third hybrid protocols that are compositions or variations of classical consensus protocols. We develop a framework to evaluate their performance, security and design properties, and use it to systematize key themes in the protocol categories described above. This evaluation leads us to identify research gaps and challenges for the community to consider in future research endeavours.

2020 - Autom.
Output feedback-based consensus control for nonlinear time delay multiagent systems

This paper focuses on the leader-following consensus problem for a class of identical nonlinear time delay multiagent systems. Different from the existing results, it is the first time that an output feedback-based consensus control algorithm is proposed for the multiagent systems based on a fixed directed topology. A novel dynamic compensator is constructed for each follower by only using the follower output and the relative output information of its neighbor agents. The distributed controller is designed for each follower based on the compensator, which is independent of time delays in the agent state. It is proved strictly that each state variable of followers can asymptotically track that of the leader based on the constructed controller. The conditions imposed on nonlinear terms are relaxed and the proposed algorithm has a simple design procedure. Moreover, the proposed control design method is applied to the consensus problem of chemical reactor systems. The simulation results illustrate the effectiveness of the proposed consensus protocols.

2006 - Journal of Thrombosis and Haemostasis
Isolation and enumeration of circulating endothelial cells by immunomagnetic isolation: proposal of a definition and a consensus protocol

Summary.  Background: Circulating endothelial cells (CECs) have been identified as markers of vascular damage in a variety of disorders, such as myocardial infarction, vasculitis, and transplantation. CD146‐driven immunomagnetic isolation has gained widespread use, but the technique is hampered by the lack of a definition of CECs and the absence of a consensus for their enumeration. Aim: To evaluate several variables influencing immunomagnetic isolation of CECs, formulate a definition for CECs and propose a consensus protocol for their enumeration. Methods: We devised a protocol based on CD146‐driven immunomagnetic isolation and a subsequent confirmatory step with Ulex‐Europaeus‐Lectin‐1 staining. In a multi‐center effort, we evaluated the preanalytical and analytical phases of this protocol. We evaluated the effects of storage, anticoagulation and density centrifugation, and compiled previous experience with this technique. Results: Our protocol permitted unequivocal identification of CECs with acceptable reproducibility. There was an effect of storage time in that median cell numbers declined to only 87.5% of their baseline values during 24 h of storage at 4 °C. Recovery was lower with citrate than with ethylene‐diamine tetra‐acetic acid after 4 h of storage; density centrifugation was also associated with lower recovery. We provide a comprehensive list of technical recommendations and potential pitfalls. Finally, based on our experience with this protocol and a recent consensus workshop, we formulated a working definition for CECs. Conclusion: Our work represents an important step toward consensus regarding the CECs. Our recommendations represent the experience of three major centers and should now be scrutinized by others in the field.

2012 - Syst. Control. Lett.
Finite-time consensus of heterogeneous multi-agent systems with and without velocity measurements

This paper studies the finite-time consensus problem of heterogeneous multi-agent systems composed of first-order and second-order integrator agents. By combining the homogeneous domination method with the adding a power integrator method, we propose two classes of consensus protocols with and without velocity measurements. First, we consider the protocol with velocity measurements and prove that it can solve the finite-time consensus under a strongly connected graph and leader-following network, respectively. Second, we consider the finite-time consensus problem of heterogeneous multi-agent systems, for which the second-order integrator agents cannot obtain the velocity measurements for feedback. Finally, some examples are provided to illustrate the effectiveness of the theoretical results.

Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint

Lin Huang
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Guanrong Chen
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Zhongkui Li
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Zhisheng Duan
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Z. Duan
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Guanrong Chen
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Zhongkui Li
|
Lin Huang

Abstract:This paper addresses the consensus problem of multiagent systems with a time-invariant communication topology consisting of general linear node dynamics. A distributed observer-type consensus protocol based on relative output measurements is proposed. A new framework is introduced to address in a unified way the consensus of multiagent systems and the synchronization of complex networks. Under this framework, the consensus of multiagent systems with a communication topology having a spanning tree can be cast into the stability of a set of matrices of the same low dimension. The notion of consensus region is then introduced and analyzed. It is shown that there exists an observer-type protocol solving the consensus problem and meanwhile yielding an unbounded consensus region if and only if each agent is both stabilizable and detectable. A multistep consensus protocol design procedure is further presented. The consensus with respect to a time-varying state and the robustness of the consensus protocol to external disturbances are finally discussed. The effectiveness of the theoretical results is demonstrated through numerical simulations, with an application to low-Earth-orbit satellite formation flying.

摘要：本文研究了具有由一般线性节点动态组成的时不变通信拓扑的多智能体系统的一致性问题。提出了一种基于相对输出测量的分布式观察者型一致性协议。提出了一种新的框架来统一解决多智能体系统的一致性和复杂网络的同步问题。在该框架下，通信拓扑为生成树的多智能体系统的一致性可以转化为一组相同低维矩阵的稳定性。在此基础上，引入并分析了共识区域的概念。证明了存在一个观察者类型的协议来解决一致性问题，同时产生一个无界的一致性区域当且仅当每个智能体都是可镇定和可检测的。在此基础上，给出了一种多步一致性协议的设计过程。最后讨论了关于时变状态的一致性和一致性协议对外部干扰的鲁棒性。通过对近地轨道卫星编队飞行的数值仿真，验证了理论结果的有效性。

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引用
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