Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge agreements are defined locally to allow more flexibility than a global consensus. This work formulates a multi-agent optimization problem under edge agreements and proposes a continuous-time distributed algorithm to solve it. Both analytical proof and numerical examples are provided to validate the effectiveness of the proposed algorithm.

翻译：从共识概念推广而来，本文考虑一组边协议，即为相邻智能体定义的约束条件，其中每对相邻智能体需满足一个边协议约束。与全局共识相比，边协议在局部范围内定义，从而具有更高的灵活性。本文构建了边协议约束下的多智能体优化问题，并提出一种连续时间分布式算法进行求解。通过理论证明与数值算例，验证了所提算法的有效性。