Related papers: On Robustness Analysis of a Dynamic Average Consen…
We study decentralized optimization where multiple agents minimize the average of their (strongly) convex, smooth losses over a communication graph. Convergence of the existing decentralized methods generally hinges on an apriori, proper…
We present a graph-theoretic approach to analyzing the robustness of leader-follower consensus dynamics to disturbances and time delays. Robustness to disturbances is captured via the system $\mathcal{H}_2$ and $\mathcal{H}_{\infty}$ norms…
We study the problem of resilient average consensus for multi-agent systems with misbehaving nodes. To protect consensus valuefrom being influenced by misbehaving nodes, we address this problem by detecting misbehaviors, mitigating the…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
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,…
Robot-mediated human-human (dyadic) interactions enable therapists to provide physical therapy remotely, yet an accurate perception of patient stiffness remains challenging due to network-induced haptic delays. Conventional stiffness…
Distributed control increases system scalability, flexibility, and redundancy. Foundational to such decentralisation is consensus formation, by which decision-making and coordination are achieved. However, decentralised multi-agent systems…
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…
For general multi-hop queueing networks, delay optimal network control has unfortunately been an outstanding problem. The dynamic backpressure (BP) algorithm elegantly achieves throughput optimality, but does not yield good delay…
This work mainly addresses continuous-time multiagent consensus networks where an adverse attacker affects the convergence performances of said protocol. In particular, we develop a novel secure-by-design approach in which the presence of a…
We study the problem of serving randomly arriving and delay-sensitive traffic over a multi-channel communication system with time-varying channel states and unknown statistics. This problem deviates from the classical…
We study an uplink multi secondary user (SU) system having statistical delay constraints, and an average interference constraint to the primary user (PU). SUs with heterogeneous interference channel statistics, to the PU, experience…
Delay-based congestion control algorithms provide higher throughput and stability than traditional loss-based AIMD algorithms, but they are inherently unfair against older connections when the queuing and the propagation delay cannot be…
Wall-clock convergence time and communication rounds are critical performance metrics in distributed learning with parameter-server setting. While synchronous methods converge fast but are not robust to stragglers; and asynchronous ones can…
We analyze (stochastic) gradient descent (SGD) with delayed updates on smooth quasi-convex and non-convex functions and derive concise, non-asymptotic, convergence rates. We show that the rate of convergence in all cases consists of two…
In distributed machine learning, where agents collaboratively learn from diverse private data sets, there is a fundamental tension between consensus and optimality. In this paper, we build on recent algorithmic progresses in distributed…
We study resilient leader-follower consensus of multi-agent systems (MASs) in the presence of adversarial agents, where agents' communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the…
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…
This technical note addresses the distributed fixed-time consensus protocol design problem for multi-agent systems with general linear dynamics over directed communication graphs. By using motion planning approaches, a class of distributed…
In the analysis of consensus problems for multi-agent systems affected by time delays, the delay margin for a given protocol is heavily dependent on the communication topology being used. This document aims to answer the question of what is…