This work studies the effects of a weak notion of symmetry on diffusively-coupled multi-agent systems. We focus on networks comprised of agents and controllers which are maximally equilibrium independent passive, and show that these converge to a clustered steady-state, with clusters corresponding to certain symmetries of the system. Namely, clusters are computed using the notion of the exchangeability graph. We then discuss homogeneous networks and the cluster synthesis problem, namely finding a graph and homogeneous controllers forcing the agents to cluster at prescribed values.
Duality and Network Theory in Passivity-based Cooperative Control
Institute for Systems Theory and Automatic Control, University of Stuttgart（斯图加特大学系统与自动控制研究所）；Faculty of Aerospace Engineering, Technion - Israel Institute of Technology（以色列理工学院航空航天工程学院）
Passivity based distributed tracking control of networked Euler-Lagrange systems
Jan C. Willems Center for Systems and Control, Faculty of Science and Engineering, University of Groningen（格罗宁根大学科学与工程学部扬C威尔姆斯系统与控制中心）；Faculty of Science and Engineering, University of Groningen（格罗宁根大学科学与工程学部）
We report on new stability conditions for evolutionary dynamics in the context of population games. We adhere to the prevailing framework consisting of many agents, grouped into populations, that interact noncooperatively by selecting strategies with a favorable payoff. Each agent is repeatedly allowed to revise its strategy at a rate referred to as revision rate. Previous stability results considered either that the payoff mechanism was a memoryless potential game, or allowed for dynamics (in the payoff mechanism) at the expense of precluding any explicit dependence of the agents' revision ra…
Passivity-Based Distributed Optimization with Communication Delays Using PI Consensus Algorithm
School of Engineering, Tokyo Institute of Technology（东京工业大学工学院）；Department of Mechanical Engineering, University of Maryland, College Park（马里兰大学帕克分校机械工程系）；School of Engineering and Applied Sciences, Harvard University（哈佛大学工程与应用科学学院）
A Novel Clustering Approach Based on Group Quasi-Consensus of Unstable Dynamic Linear High-Order Multi-Agent Systems
College of Electrical Engineering, Northwest University for Nationalities（西北民族大学电气工程学院）；PN Engineering College, National University of Sciences and Technology（国立科技大学工程与职业理工学院）
In this paper, we address two forms of consensus for multi-agent systems with undirected, signed, weighted, and connected communication graphs, under the assumption that the agents can be partitioned into three clusters, representing the decision classes on a given specific topic, for instance, the in favour, abstained and opponent agents. We will show that under some assumptions on the cooperative/antagonistic relationships among the agents, simple modifications of DeGroot's algorithm allow to achieve tripartite consensus(if the opinions of agents belonging to the same class all converge to t…
This work is associated with the use of parallel feedforward compensators (PFCs) for the problem of output synchronization over heterogeneous agents and the benefits this approach can provide. Specifically, it addresses the addition of stable PFCs on agents that interact with each other using diffusive couplings. The value in the application of such PFC is twofold. Firstly, it has been an issue that output synchronization among passivity-short systems requires global information for the design of controllers in the cases when initial conditions need to be taken into account, such as average co…
In this paper, we present a distributed algorithm which implements the $k$-means algorithm in a distributed fashion for multi-agent systems with directed communication links. The goal of $k$-means is to partition the network's agents in mutually exclusive sets (groups) such that agents in the same set have (and possibly share) similar information and are able to calculate a representative value for their group.During the operation of our distributed algorithm, each node (i) transmits quantized values in an event-driven fashion, and (ii) exhibits distributed stopping capabilities. Transmitting …
Technical University of Munich（慕尼黑工业大学）；San Jose State University（圣何塞州立大学）
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual take-off and landing of agents for battery recharging leading to a varying number of active agents throughout the whole mission. This work proposes autonomous hierarchical multi-level clustering (MLC), which forms a clustering hierarchy utilizing decentralized methods. Through periodic cluster maintenance executed by cluster-heads, stable multi-level clusteri…
Computer model has been extensively adopted to overcome the time limitation of language evolution by transforming language theory into physical modeling mechanism, which helps to explore the general laws of the evolution. In this paper, a multi-agent model is designed to simulate the evolution process of language in human settlements, with the network topology being lattice. The language of each node in the lattice will evolve gradually under the influence of its own fixed evolutionary direction and neighbors. According to the computational experiment results, it is discovered that the state p…
Neo-Grounded Theory: A Methodological Innovation Integrating High-Dimensional Vector Clustering and Multi-Agent Collaboration for Qualitative Research
Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院）；Jesus College, University of Oxford（牛津大学耶稣学院）；Harbin Institute of Technology（哈尔滨工业大学）
We study cluster assignment in homogeneous diffusive multi-agent networks. Given the number of clusters and agents within each cluster, we design the network graph ensuring the system will converge to the prescribed cluster configuration. Using recent results linking clustering and symmetries, we show that it is possible to design an oriented graph for which the action of the automorphism group of the graph has orbits of predetermined sizes, guaranteeing the network will converge to the prescribed cluster configuration. We provide bounds on the number of edges needed to construct these graphs …
Clustering by projection has been proposed as a way to preserve network structure in linear multi-agent systems. Here, we extend this approach to a class of nonlinear network systems. Additionally, we generalize our clustering method which restores the network structure in an arbitrary reduced-order model obtained by projection. We demonstrate this method on a number of examples.
This paper proposes a data-driven distributed voltage control approach based on the spectrum clustering and the enhanced multi-agent deep reinforcement learning (MADRL) algorithm. Via the unsupervised clustering, the whole distribution system can be decomposed into several sub-networks according to the voltage and reactive power sensitivity. Then, the distributed control problem of each sub-network is modeled as Markov games and solved by the enhanced MADRL algorithm, where each sub-network is modeled as an adaptive agent. Deep neural networks are used in each agent to approximate the policy f…
