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On the Control of
Multi-Agent Systems:
A Survey
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On the Control of Multi-Agent

Systems: A Survey

Fei Chen
State Key Laboratory of Synthetical Automation
for Process Industries
Northeastern University, China
and
School of Control Engineering
Northeastern University at Qinhuangdao, China
[email protected]
Wei Ren
Department of Electrical and Computer Engineering
University of California, Riverside, USA
[email protected]

Boston — Delft
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Foundations and Trends R in Systems and

Control
Volume 6, Issue 4, 2019
Editorial Board
Editors-in-Chief
Panos J. Antsaklis Alessandro Astolfi
University of Notre Dame Imperial College London, United Kingdom
United States University of Rome ”Tor Vergata”, Italy

Editors

John Baillieuli Dragan Nesic

Boston University The University of Melbourne
Peter Caines Marios Polycarpou
McGill University University of Cyprus
Christos Cassandras Jörg Raisch
Boston University Technical University Berlin
Denis Dochain Arjan van der Schaft
UC Louvain University of Groningen
Magnus Egerstedt M. Elena Valcher
Georgia Institute of Technology University of Padova
Karl Henrik Johansson Richard Vinter
KTH Stockholm Imperial College London
Miroslav Krstic George Weiss
University of California, San Diego Tel Aviv University
Jan Maciejowski
University of Cambridge
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Editorial Scope
Topics
Foundations and Trends R in Systems and Control publishes survey and
tutorial articles in the following topics:

• Control of: – Delay Systems

– Hybrid and Discrete • Filtering, Estimation,
Event Systems Identification
– Nonlinear Systems
• Optimal Control
– Network Systems
• Systems Theory
– Stochastic Systems
– Multi-agent Systems • Control Applications
– Distributed Parameter
Systems

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Also available as a combined paper and online subscription.
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Contents

1 Introduction 3

2 Basic concepts and definitions on multi-agent

systems (MASs) 8
2.1 What is an agent? . . . . . . . . . . . . . . . . . . . . . . 8
2.2 What is autonomy? . . . . . . . . . . . . . . . . . . . . . 9
2.3 What is a multi-agent system (MAS)? . . . . . . . . . . . 10
2.4 Network topologies for information exchange . . . . . . . . 10
2.5 Centralized vs. decentralized vs. distributed . . . . . . . . 14

3 Agent models 17
3.1 Linear agent models . . . . . . . . . . . . . . . . . . . . . 17
3.2 Nonlinear agent models . . . . . . . . . . . . . . . . . . . 22

4 Cooperative tasks 29
4.1 Consensus . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2 Leader-following coordination . . . . . . . . . . . . . . . . 36
4.3 Flocking . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.4 Formation control . . . . . . . . . . . . . . . . . . . . . . 41
4.5 Coverage control . . . . . . . . . . . . . . . . . . . . . . . 46
4.6 Distributed average tracking . . . . . . . . . . . . . . . . 48
4.7 Distributed estimation . . . . . . . . . . . . . . . . . . . . 52
 Full text available at: http://dx.doi.org/10.1561/2600000019

4.8 Containment control and surrounding control . . . . . . . 56

4.9 Distributed optimization . . . . . . . . . . . . . . . . . . . 61

5 Research issues 65
5.1 Network issues . . . . . . . . . . . . . . . . . . . . . . . . 65
5.2 Noise or disturbance . . . . . . . . . . . . . . . . . . . . . 72
5.3 Connectivity maintenance . . . . . . . . . . . . . . . . . . 75
5.4 Time-triggered measurement (sampled data) . . . . . . . . 80
5.5 Event-triggered measurement . . . . . . . . . . . . . . . . 82

6 Algorithms 86
6.1 Proportional (P) control . . . . . . . . . . . . . . . . . . . 86
6.2 Proportional-integral (PI) control . . . . . . . . . . . . . . 88
6.3 Adaptive control . . . . . . . . . . . . . . . . . . . . . . . 91
6.4 Model predictive control . . . . . . . . . . . . . . . . . . . 93
6.5 Passivity-based control . . . . . . . . . . . . . . . . . . . 95
6.6 Sliding-mode control . . . . . . . . . . . . . . . . . . . . 98
6.7 Finite-time and fixed-time control . . . . . . . . . . . . . 100

7 Applications 103
7.1 Multi-robot systems . . . . . . . . . . . . . . . . . . . . . 103
7.2 Sensor networks . . . . . . . . . . . . . . . . . . . . . . . 107
7.3 Smart grids . . . . . . . . . . . . . . . . . . . . . . . . . 114
7.4 Machine learning . . . . . . . . . . . . . . . . . . . . . . 118
7.5 Social networks . . . . . . . . . . . . . . . . . . . . . . . 120
7.6 Task migration of many-core microprocessors . . . . . . . 124
7.7 Coordination of the charging of multiple electric vehicles . 126
7.8 Distributed heating, ventilation, and air-conditioning (HVAC)
optimization . . . . . . . . . . . . . . . . . . . . . . . . . 128

8 Conclusions and prospects 132

References 137
 Full text available at: http://dx.doi.org/10.1561/2600000019

On the Control of Multi-Agent

Systems: A Survey
Fei Chen1,2 and Wei Ren3
1 StateKey Laboratory of Synthetical Automation for Process Industries,
Northeastern University, China; [email protected]
2 School of Control Engineering, Northeastern University at

Qinhuangdao, China
3 Department of Electrical and Computer Engineering, University of

California, Riverside, USA; [email protected]

ABSTRACT
Recent years have witnessed a trend to use networked multi-
ple autonomous agents to accomplish complex tasks arising
from space-based applications, smart grids, and machine
learning. Such systems are referred to as multi-agent systems,
where a global objective is achieved via the local interactions
among the agents. The recent two decades have witnessed a
rapid development of MASs in automatic control, but their
root can be traced back much earlier. This paper reviews the
research progress of MASs in past years. After briefly intro-
ducing the basic concepts and definitions, we discuss agents’
dynamic models, including both linear and nonlinear mod-
els, describe different cooperating tasks, such as consensus,
coordinating tracking, formation control, distributed aver-
age tracking, distributed estimation, containment control,
surrounding control, and distributed optimization. We intro-
duce various research issues for MASs, including time-delays,
noise or disturbance, quantization, connectivity maintenance,

Fei Chen and Wei Ren (2019), “On the Control of Multi-Agent Systems: A Survey”,
Foundations and Trends R in Systems and Control: Vol. 6, No. 4, pp 339–499. DOI:
10.1561/2600000019.
 Full text available at: http://dx.doi.org/10.1561/2600000019

and event-triggered control. We present different MAS con-

trol algorithms, including proportional control, proportional-
integral control, adaptive control, model predictive control,
passivity-based control, and nonsmooth control, and their
applications in multi-robot systems, sensor networks, smart
grid, machine learning, social networks, and many-core mi-
croprocessors.
 Full text available at: http://dx.doi.org/10.1561/2600000019

1
Introduction

Nature has created a large number of multi-agent systems (MASs),

where local interaction rules/mechanisms are exploited at different
levels by groups of agents to achieve a common group objective. Schools
of fish and flocks of birds are typical examples of MASs, which have
fascinated scientists from rather diverse disciplines, such as physics,
biology, and computer sciences. Thanks to the parallel characteristics,
MASs can be used to solve engineering problems that are difficult or
impossible for a single agent to accomplish. For example, in a large
area, it is not possible to use a camera to cover the whole area; while a
network of multiple collaborating cameras can be used to achieve the
purpose. MASs are more robust — the malfunction of one agent or a
small portion of agents typically will not affect the functionality of the
system; MASs are scalable — no matter what the size of the system
is, the computation and communication costs of MASs are kept at a
reasonably low level.
Although the study of MASs can be traced back long ago [1–3], it
was only at the beginning of the 21st century that MASs emerged as
a separate research field. In 2005, the paper “coordination of groups
of mobile autonomous agents using nearest neighbor rule” won the

3
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4 Introduction

prestigious George S. Axelby outstanding paper award from IEEE

Transactions on Automatic Control, a top-notched journal in systems
and control. After that, the International Federation of Automatic
Control (IFAC) and American Automatic Control Council (AACC)
organized a series of conferences/workshops focusing on MASs. IFAC
established several technical committees having close ties with MASs.
New journals with a primary interest in MAS or network systems are
established, e.g., IEEE Transactions on Control of Network Systems
and IEEE Transactions on Network Sciences and Engineering.
As a critical enabler of several research fields, MASs are quintessen-
tially multidisciplinary. In the search for theories and applications, physi-
cists, computer scientists, biologists, and others have all contributed
to the development of MASs. Craig Reynold proposed three rules that
lead to simulated flocking: collision avoidance, velocity matching, and
flock centering [4]. Tamas Vicsek et al. introduced a model where the
velocity of the particles is determined by a simple rule with random
fluctuations, to investigate the emergence of group behavior [5]. On the
other perspective, the study on MASs also provides insights for the
related fields, leading to new developments in these fields. A hallmark
of MAS control is the mathematical rigor where convergence/stability
analysis plays a vital role, perhaps an inheritance from control theory.
Although MAS theory shares some similarities with other branches
of natural sciences, there exist some fundamental difference. In natural
sciences, methodological reductionism plays a central role and has
achieved great success, which attempts to explain entire systems in
terms of their components. Reductionism assumes that the interactions
among system components (subsystems) are not essential and their effect
is negligible. However, the assumption failed to work for MASs. The
goal of MAS study is to understand and exploit the local interaction
rules among agents, from which a global behavior can emerge. As
a result, methodological reductionism becomes less useful for MAS
study. Compared with single agent control where there already exists
interaction among different systems components, e.g., sensing component
and control component, MASs add another layer of interactions at a
higher level. How to understand and exploit these interactions is the
key to the success of MASs.
 Full text available at: http://dx.doi.org/10.1561/2600000019

Many survey or tutorial papers [6–10] on MASs have been presented,

along with a number of special issues and books [11–22]. The Proceed-
ings of IEEE and the IEEE Control System Magazine publishes several
overviews on MASs, including information consensus in multivehicle co-
operative control [23], motion coordination with distributed information
[24], consensus and cooperation in networked multi-agent systems [25],
interconnected dynamic systems—an overview on distributed control
[26], oscillator models and collective motion [27], motion coordination
with distributed information [24], and collective motion, sensor networks,
and ocean sampling [28]. Springer Encyclopedia and Wiley Encyclopedia
publish a series of tutorial papers on multi-agent systems (e.g., [29–44]).
Numerous special issues are published by the IEEE Transactions on
Automatic Control [45], the Proceedings of the IEEE [46], and the IEEE
Transactions on Robotics and Automation [47].
The first decade of the 21st century has witnessed a very dynamic
development of the MAS theory, with rapid growth of applications. The
research topics of MASs have been extended from consensus [48–51],
formation control [52, 53], and flocking [54] to distributed estimation
[55–57] and distributed optimization [58, 59]. The courses on MAS
control also appear both at the undergraduate level and graduate level.
In many engineering fields, it is not unusual to see that multiple agents
work cooperatively to accomplish a complex task. The examples include
distributed reconfigurable sensor networks, space-based interferometers,
combat, surveillance, and reconnaissance systems, smart grids, and
distributed machine learning. Although the problems arise from diverse
application domains, they share some fundamental characteristics. First,
agents have simple sensing, communication, and computation capabili-
ties and function in a fully autonomously way; second, there is not a
central decision maker or coordinator, and each agent makes its own
decision by its local information, i.e., the system is distributed. Today,
the research scope of MASs is still expanding.

Organization

The remainder of this paper is organized as follows.

 Full text available at: http://dx.doi.org/10.1561/2600000019

6 Introduction

• We begin in Chapter 2 with a brief introduction of basic concepts

and definitions on MASs, where we will introduce the definitions
of agents, autonomy, as well as multi-agent systems. Additionally,
we will delineate the preliminaries on graph theory that is relevant
in characterizing the network topologies among agents. Among
other things, we will point out the difference among the three
terms “centralized”, “decentralized”, and “distributed”.
• In Chapter 3, we introduce the models describing the dynamics
of agents. The linear models include first-integrator dynamics,
double-integrator dynamics, and generic linear systems, while the
nonlinear models involve Lagrangian systems, unicycle systems,
along with attitude dynamics of rigid bodies.
• In Chapter 4, we describe different multi-agent cooperative tasks,
including consensus, leader-following coordination, flocking, for-
mation control, coverage control, distributed average tracking,
distributed estimation, containment control and its inverse prob-
lem surrounding control, as well as distributed optimization.
• In Chapter 5, we present various research issues of MASs, includ-
ing time-delays, quantization, packet loss, noise and disturbance,
connectivity maintenance, sampled-data control, along with event-
triggered control.
• In Chapter 6, we introduce different types of multi-agent control
algorithms, including proportional control, proportional-integral
control, adaptive control, model predictive control, passivity-based
control, sliding-mode control, finite-time control, as well as fixed-
time control.
• In Chapter 7, we summarize the applications of MASs in multi-
robot systems, sensor networks, smart grids, machine learning,
social networks, task migration of multi-core microprocessors, co-
ordination of the charging of multiple electric vehicles, distributed
heating, ventilation, and air conditioning optimization.
• Finally, in Chapter 8, we give a conclusion and list some unsolved
problems of MASs from the authors’ perspective.
 Full text available at: http://dx.doi.org/10.1561/2600000019

The synopsis of this article falls between a survey paper and a

book, which is reflected by the length of the article. Compared with a
regular survey, our article provides a more thorough coverage on the
topics of multi-agent systems, as each one of Chapters 3–7 can serve
independently as a survey paper. It is noted that most multi-agent
books in the market are monographs, focusing on the specific research
interests of the authors. In comparison, our article offers a wider range
of coverage, but it omits cumbersome technical details, such as proofs,
in order to let the reader get a full picture of the field promptly.
 Full text available at: http://dx.doi.org/10.1561/2600000019

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