Multi-agent Coordination in Directed Moving Neighborhood Random Networks

TL;DR

This paper studies how multiple agents can reach consensus when they move randomly on a directed network and communicate only when they meet, providing conditions for almost sure convergence.

Contribution

It introduces a new consensus framework for agents with directed moving neighborhood networks and shows how existing schemes are special cases.

Findings

Provided sufficient conditions for almost sure asymptotic consensus.

Demonstrated that existing consensus schemes are special cases of the proposed model.

Analyzed the impact of directed moving neighborhood networks on consensus behavior.

Abstract

In this paper, we consider the consensus problem of dynamical multiple agents that communicate via a directed moving neighborhood random network. Each agent performs random walk on a weighted directed network. Agents interact with each other through random unidirectional information flow when they coincide in the underlying network at a given instant. For such a framework, we present sufficient conditions for almost sure asymptotic consensus. Some existed consensus schemes are shown to be reduced versions of the current model.