|A Distributed Estimation Algorithm for Collective Behaviors in Multiagent Systems with Applications to Unicycle Agents
Jing Wang*, In Soo Ahn, Yufeng Lu, Tianyu Yang, and Gennady Staskevich
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2829-2839, 2017
Abstract : "In this paper, we propose a distributed estimation algorithm for the detection of collective behaviors in
multiagent systems. Through local information exchange, the proposed algorithm can estimate the average of the
integrals of local time-varying behavior signals of individual agents, such as network moments, which could serve
as a feature indicator for group collective behaviors. Under the assumption that the communication network among
agents is connected and bidirectional, the algorithm convergence is rigorously analyzed with an explicitly defined
bounds of estimation errors. The event-triggering mechanism for information transmission is further employed for
reducing the communication load. As a case study, the proposed distributed estimation algorithm is applied to detect
the collective behaviors of unicycle agents. Simulation results on the estimation of network centroids are provided
to illustrate the effectiveness of the method."
Collective behaviors, distributed estimation, global characteristic signals, multiagent systems.