Related papers: Fault-Tolerant Consensus with an Abstract MAC Laye…
Distributed estimation in the context of sensor networks is considered, where distributed agents are given a set of sensor measurements, and are tasked with estimating a target variable. A subset of sensors are assumed to be faulty. The…
The constrained consensus problem considered in this paper, denoted interval consensus, is characterized by the fact that each agent can impose a lower and upper bound on the achievable consensus value. Such constraints can be encoded in…
We study resilient quantized consensus in multi-agent systems, where some agents may malfunction. The network consists of agents taking integer-valued states, and the agents' communication is subject to asynchronous updates and time delays.…
The present paper is devoted to the study of average consensus problems for undirected networks of dynamic agents having communication delays. The accent is put here on the study of the time-delays influence: both constant and time-varying…
We study the problem of achieving average consensus between a group of agents over a network with erasure links. In the context of consensus problems, the unreliability of communication links between nodes has been traditionally modeled by…
In this paper, we address the distributed average consensus problem over directed networks in open multi-agent systems (OMAS), where the stability of the network is disrupted by frequent agent arrivals and departures, leading to a…
Consensus protocols are the foundation for building many fault-tolerant distributed systems and services. This paper posits that there are significant performance benefits to be gained by offering consensus as a network service (CAANS).…
More than two decades ago, combinatorial topology was shown to be useful for analyzing distributed fault-tolerant algorithms in shared memory systems and in message passing systems. In this work, we show that combinatorial topology can also…
This paper proposes a new approach to analyze and synthesize robust consensus control laws for general linear leaderless multi-agent systems (MASs) subjected to input constraints or uncertainties. First, the MAS under input constraints or…
Sensor networks provide services to a broad range of applications ranging from intelligence service surveillance to weather forecasting. Most of the sensor networks are terrestrial, however much of our planet is covered by water and…
To accommodate Machine-type Communication (MTC) service, the wireless network needs to support low-delay and low-jitter data transmission, realizing delay deterministic wireless network. This paper analyzes the delay and jitter of the…
In this paper, we propose a cross-layer scheduling algorithm that achieves a throughput "epsilon-close" to the optimal throughput in multi-hop wireless networks with a tradeoff of O(1/epsilon) in delay guarantees. The algorithm aims to…
The discrepancy between the upper bound on throughput in wireless networks and the throughput scaling in random networks which is also known as the connectivity-throughput trade-off is analyzed. In a random network with $\lambda$ nodes per…
We present two new consensus algorithms for dynamic networks. The first, Fast Raft, is a variation on the Raft consensus algorithm that reduces the number of message rounds in typical operation. Fast Raft is ideal for fast-paced distributed…
In this paper, we address the discrete-time average consensus problem in strongly connected directed graphs, where nodes exchange information over unreliable error-prone communication links. We enhance the Robustified Ratio Consensus…
Average consensus algorithms have wide applications in distributed computing systems where all the nodes agree on the average value of their initial states by only exchanging information with their local neighbors. In this letter, we look…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
We carry out a comprehensive study of the resource cost of averaging consensus in wireless networks. Most previous approaches suppose a graphical network, which abstracts away crucial features of the wireless medium, and measure resource…
We study the problem of resilient consensus of sampled-data multi-agent networks with double-integrator dynamics. The term resilient points to algorithms considering the presence of attacks by faulty/malicious agents in the network. Each…
Many complex systems, such as communication networks, display a surprising degree of robustness: while key components regularly malfunction, local failures rarely lead to the loss of the global information-carrying ability of the network.…