Related papers: Consensus in Rooted Dynamic Networks with Short-Li…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
In real-world networks the interactions between network elements are inherently time-delayed. These time-delays can not only slow the network but can have a destabilizing effect on the network's dynamics leading to poor performance. The…
Consider a complete communication network of $n$ nodes, where the nodes receive a common clock pulse. We study the synchronous $c$-counting problem: given any starting state and up to $f$ faulty nodes with arbitrary behaviour, the task is…
We consider deterministic distributed algorithms for reaching agreement in synchronous networks of arbitrary topologies. Links are bi-directional and prone to failures while nodes stay non-faulty at all times. A faulty link may omit…
We analyze the convergence of decentralized consensus algorithm with delayed gradient information across the network. The nodes in the network privately hold parts of the objective function and collaboratively solve for the consensus…
This paper studies the problem of finding the median of N distinct numbers distributed across networked agents. Each agent updates its estimate for the median from noisy local observations of one of the N numbers and information from…
This paper presents a consensus algorithm under misaligned orientations, which is defined as (i) misalignment to global coordinate frame of local coordinate frames, (ii) biases in control direction or sensing direction, or (iii) misaligned…
This paper studies a consensus problem in multidimensional networks having the same agent-to-agent interaction pattern under both intra- and cross-layer time delays. Several conditions for the agents to asymptotically reach a consensus are…
This paper explores the problem of reaching approximate consensus in synchronous point-to-point networks, where each directed link of the underlying communication graph represents a communication channel between a pair of nodes. We adopt…
Adversarial neural networks solve many important problems in data science, but are notoriously difficult to train. These difficulties come from the fact that optimal weights for adversarial nets correspond to saddle points, and not…
Existing asynchronous distributed optimization algorithms often use diminishing step-sizes that cause slow practical convergence, or fixed step-sizes that depend on an assumed upper bound of delays. Not only is such a delay bound hard to…
Our goal is to find a necessary and sufficient condition on the consensus over a random network, generated by i.i.d. stochastic matrices. We show that the consensus problem in three different convergence modes (almost surely, in…
This paper addresses the estimation of a time- varying parameter in a network. A group of agents sequentially receive noisy signals about the parameter (or moving target), which does not follow any particular dynamics. The parameter is not…
We investigate consensus dynamics on temporal hypergraphs that encode network systems with time-dependent, multi-way interactions. We compare this dynamics with that on appropriate projections of this higher-order network representation…
Adaptive networks consist of a collection of nodes with adaptation and learning abilities. The nodes interact with each other on a local level and diffuse information across the network to solve estimation and inference tasks in a…
We investigate how the graph topology influences the robustness to noise in undirected linear consensus networks. We measure the structural robustness by using the smallest possible value of steady state population variance of states under…
We consider the following distributed consensus problem: Each node in a complete communication network of size $n$ initially holds an \emph{opinion}, which is chosen arbitrarily from a finite set $\Sigma$. The system must converge toward a…
Distributed consensus has appeared as one of the most important and primary problems in the context of distributed computation and it has received renewed interest in the field of sensor networks (due to recent advances in wireless…
This paper presents new classes of consensus protocols with fixed-time convergence, which enable the definition of an upper bound for consensus state as a parameter of the consensus protocol, ensuring its independence from the initial…