State Synchronization of Discrete-time Multi-agent Systems in Presence of Unknown Nonuniform Communication Delays: A Scale-free Protocol Design

TL;DR

This paper proposes a scale-free protocol for synchronizing discrete-time multi-agent systems despite unknown, nonuniform, and large communication delays, using only local information and agent models.

Contribution

It introduces a novel scale-free protocol that achieves state synchronization without requiring network topology or size information.

Findings

Successful synchronization under large delays

Protocol is independent of network size and topology

Applicable to homogeneous multi-agent systems

Abstract

In this paper, we study scale-free state synchronization of discrete-time homogeneous multi-agent systems (MAS) subject to unknown, nonuniform, and arbitrarily large communication delays. The scale-free protocol utilizes localized information exchange and is designed solely based on the knowledge of the agents' model and does not require any information about the communication network and the size of the network (i.e. number of agents).