Implements consensus algorithms on fixed and time varying graphs including a flocking based consensus algorithm (velocity matching) and a general flocking algorithm based on the framework in [3].
Checkout some examples in the notebook, plus some additional source files
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To Do
- 3 files yet to merge into the main body (collision-avoidance,flocking-animation,General Flocking in 2D)
This next example shows fragmentation in as mentioned in the paper
Includes some discussion of the papers [1][2][3] and some simulation results+comments
For the theoretical results (and algorithms) used consult
[1] R. Olfati-Saber, J. A. Fax and R. M. Murray, "Consensus and Cooperation in Networked Multi-Agent Systems," in Proceedings of the IEEE, vol. 95, no. 1, pp. 215-233, Jan. 2007. doi: 10.1109/JPROC.2006.887293
[2] H. G. Tanner, A. Jadbabaie and G. J. Pappas, "Flocking in Fixed and Switching Networks," in IEEE Transactions on Automatic Control, vol. 52, no. 5, pp. 863-868, May 2007. doi: 10.1109/TAC.2007.895948
[3] R. Olfati-Saber, "Flocking for multi-agent dynamic systems: algorithms and theory," in IEEE Transactions on Automatic Control, vol. 51, no. 3, pp. 401-420, March 2006. doi: 10.1109/TAC.2005.864190