Related papers: Consensus on the average in arbitrary directed net…
This paper regards randomized discrete-time consensus systems that preserve the average "on average". As a main result, we provide an upper bound on the mean square deviation of the consensus value from the initial average. Then, we apply…
A variety of problems in distributed control involve a networked system of autonomous agents cooperating to carry out some complex task in a decentralized fashion, e.g., orienting a flock of drones, or aggregating data from a network of…
We analyze a class of distributed quantized consensus algorithms for arbitrary static networks. In the initial setting, each node in the network has an integer value. Nodes exchange their current estimate of the mean value in the network,…
We consider the average-consensus problem in a multi-node network of finite size. Communication between nodes is modeled by a sequence of directed signals with arbitrary communication delays. Four distributed algorithms that achieve…
We study the convergence speed of distributed iterative algorithms for the consensus and averaging problems, with emphasis on the latter. We first consider the case of a fixed communication topology. We show that a simple adaptation of a…
This paper considers the problem of dynamic average consensus algorithm design for a group of communicating agents. This problem consists of designing a distributed algorithm that enables a group of agents with communication and computation…
Distributed consensus protocols provide a mechanism for spreading information within clustered networks, allowing agents and clusters to make decisions without requiring direct access to the state of the ensemble. In this work, we propose a…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
When networked systems of autonomous agents carry out complex tasks, the control and coordination sought after generally depend on a few fundamental control primitives. Chief among these primitives is consensus, where agents are to converge…
In this note, we discuss the problem of consensus finding in communication networks of agents with dynamically switching topologies. In particular, we consider the case of directed networks with unbalanced matrices of communication rates.…
Average consensus (AC) strategies play a key role in every system that employs cooperation by means of distributed computations. To promote consensus, an $N$-agent network can repeatedly combine certain node estimates until their mean value…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
We consider discrete-time distributed averaging algorithms over multi-agent networks with measurement noises and time-varying random graph flows. Each agent updates its state by relative states between neighbours with both additive and…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
In this paper we study the distributed average consensus problem in multi-agent systems with directed communication links that are subject to quantized information flow. Specifically, we present and analyze a distributed averaging algorithm…
We study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed random graphs, where…
Average consensus is key for distributed networks, with applications ranging from network synchronization, distributed information fusion, decentralized control, to load balancing for parallel processors. Existing average consensus…
Several algorithms in prior literature have been proposed which guarantee consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the…
This paper proposes a deterministic distributed algorithm, referred to as PP-ACDC, that achieves exact average consensus over possibly unbalanced directed graphs using only a fixed and a priori specified number of quantization bits. The…
In this note we give sufficient conditions for the convergence of the iterative algorithm called weighted-average consensus in directed graphs. We study the discrete-time form of this algorithm. We use standard techniques from matrix theory…