Related papers: Random Asynchronous Iterations in Distributed Coor…
We develop a new randomized iterative algorithm---stochastic dual ascent (SDA)---for finding the projection of a given vector onto the solution space of a linear system. The method is dual in nature: with the dual being a non-strongly…
This paper proposes a distributed algorithm for average consensus in a multi-agent system under a fixed bidirectional communication topology, in the presence of malicious agents (nodes) that may try to influence the average consensus…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
Linear consensus iterations guarantee asymptotic convergence, thereby, limiting their applicability in applications where consensus value needs to be used in real time to perform a system level task. It also leads to wastage of power and…
The random access scheme is a fundamental scenario in which users transmit through a shared channel and cannot coordinate each other. In recent years, successive interference cancellation (SIC) was introduced into the random access scheme.…
This paper presents new sufficient conditions for convergence and asymptotic or exponential stability of a stochastic discrete-time system, under which the constructed Lyapunov function always decreases in expectation along the system's…
In this paper, we study the robustness of the event-triggered consensus algorithms against frequency-domain uncertainties. It is revealed that the sampling errors resulted by event triggering are essentially images of linear finite-gain…
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…
We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…
For a group of autonomous communicating agents, the ability to distinguish a meaningful input from disturbance, and come to collective agreement or disagreement in response to that input, is paramount for carrying out coordinated…
Distributed systems, such as state machine replication, are critical infrastructures for modern applications. Practical distributed protocols make minimum assumptions about the underlying network: They typically assume a partially…
This paper considers a problem where multiple users make repeated decisions based on their own observed events. The events and decisions at each time step determine the values of a utility function and a collection of penalty functions. The…
The Dendritic Cell algorithm (DCA) is inspired by recent work in innate immunity. In this paper a formal description of the DCA is given. The DCA is described in detail, and its use as an anomaly detector is illustrated within the context…
Statistical inference is central to many scientific endeavors, yet how it works remains unresolved. Answering this requires a quantitative understanding of the intrinsic interplay between statistical models, inference methods and data…
The order of the input information plays a very important role in a distributed information processing system (DIPS). This paper proposes a novel data sorting mechanism named the {\epsilon}-differential agreement (EDA) that can support…
We come up with a class of distributed quantized averaging algorithms on asynchronous communication networks with fixed, switching and random topologies. The implementation of these algorithms is subject to the realistic constraint that the…
Shared autonomy is an enabling technology that provides users with control authority over robots that would otherwise be difficult if not impossible to directly control. Yet, standard methods make assumptions that limit their adoption in…
In this paper, we propose a distributionally robust control synthesis for an agent with stochastic dynamics that interacts with other agents under uncertainties and constraints expressed by signal temporal logic (STL). We formulate the…
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…
This article provides an introduction to event-triggered coordination for multi-agent average consensus. We provide a comprehensive account of the motivations behind the use of event-triggered strategies for consensus, the methods for…