AUTEUR: V-S Subrahmanian
NOM DE FICHIER: Heterogeneous Agent Systems.pdf
DATE DE PUBLICATION: 2000-Aug-02
TAILLE DU FICHIER: 3,74 MB
This study focuses on the secure consensus problem for heterogeneous multi-agent systems composed of first- and second-order agents. First, we show that the network robustness can be significantly improved by setting a subset of nodes as trusted nodes. Then, we propose a secure consensus algorithm for heterogeneous systems with trusted nodes.
In this paper, the problem of time-varying formation is considered, which is another major problem for heterogeneous systems. Time-varying formation means that a multi-agent system is able to change its formation in specific conditions without losing its stability. Changing the formation can be caused by two reasons: 1