Related papers: Analysis of Average Consensus Algorithm for Asymme…
Multi-agent coordination algorithms with randomized interactions have seen use in a variety of settings in the multi-agent systems literature. In some cases, these algorithms can be random by design, as in a gossip-like algorithm, and in…
Average consensus is fundamental for distributed systems since it underpins key functionalities of such systems ranging from distributed information fusion, decision-making, to decentralized control. In order to reach an agreement, existing…
Directed acyclic graphs provide a fundamental tool for representing directed dependence structures in multivariate network data, and are widely used to model financial and economic networks. However, accurate and interpretable estimation…
We propose a distributed algorithm for time synchronization in mobile wireless sensor networks. Each node can employ the algorithm to estimate the global time based on its local clock time. The problem of time synchronization is formulated…
This work aims to address the design of fully distributed control protocols for stochastic consensus, and, for the first time, establishes the existence and uniqueness of solutions for the path-dependent and highly nonlinear closed-loop…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
Network-based Global Navigation Satellite Systems (GNSS) underpin critical infrastructure and autonomous systems, yet typically rely on centralized processing hubs that limit scalability, resilience, and latency. Here we report a…
Optimal design of consensus acceleration graph filters relates closely to the eigenvalues of the consensus iteration matrix. This task is complicated by random networks with uncertain iteration matrix eigenvalues. Filter design methods…
Results for estimating the convergence rate of non-stationary distributed consensus algorithms are provided, on the basis of qualitative (mainly topological) as well as basic quantitative information (lower-bounds on the matrix entries).…
Motivated by applications in machine learning and statistics, we study distributed optimization problems over a network of processors, where the goal is to optimize a global objective composed of a sum of local functions. In these problems,…
This paper proposes a novel asynchronous consensus algorithm which is based on a continuous update rule and an energy efficient event triggered duty (wake-sleep) cycle based on a discrete Markov chain model. The system model of the proposed…
This paper studies probabilistic rates of convergence for consensus+innovations type of algorithms in random, generic networks. For each node, we find a lower and also a family of upper bounds on the large deviations rate function, thus…
We study diffusion and consensus dynamics in a Network of Networks model. In this model, there is a collection of sub-networks, connected to one another using a small number of links. We consider a setting where the links between networks…
A proper abstraction of a large-scale linear consensus network with a dense coupling graph is one whose number of coupling links is proportional to its number of subsystems and its performance is comparable to the original network. Optimal…
Let $N$ local decision makers in a sensor network communicate with their neighbors to reach a decision \emph{consensus}. Communication is local, among neighboring sensors only, through noiseless or noisy links. We study the design of the…
We propose a weight design method to increase the convergence rate of distributed consensus. Prior work has focused on symmetric weight design due to computational tractability. We show that with proper choice of asymmetric weights, the…
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.…
Distributed consensus computation over random graph processes is considered. The random graph process is defined as a sequence of random variables which take values from the set of all possible digraphs over the node set. At each time step,…
We introduce the concept of community consensus in the presence of malicious agents using a well-known median-based consensus algorithm. We consider networks that have multiple well-connected regions that we term communities, characterized…
We consider the weight design problem for the consensus algorithm under a finite time horizon. We assume that the underlying network is random where the links fail at each iteration with certain probability and the link failures can be…