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We propose a framework for inversion-based estimation of certain categories of faults in discrete-time linear systems. The fault signal, as an unknown input, is reconstructed from its projections onto two subspaces. One projection is…
A fault-tolerant negotiation-based intersection crossing protocol is presented. Rigorous analytic proofs are used for demonstrating the correctness and fault-tolerance properties. Experimental results validate the correctness proof via…
This paper studies the control-oriented identification problem of set-valued moving average systems with uniform persistent excitations and observation noises. A stochastic approximation-based (SA-based) algorithm without projections or…
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…
Distributed agreement-based algorithms are often specified in a crash-stop asynchronous model augmented by Chandra and Toueg's unreliable failure detectors. In such models, correct nodes stay up forever, incorrect nodes eventually crash and…
Adaptively controlling and minimizing regret in unknown dynamical systems while controlling the growth of the system state is crucial in real-world applications. In this work, we study the problem of stabilization and regret minimization of…
The Error-in-Variables model of system identification/control involves nontrivial input and measurement corruption of observed data, resulting in generically nonconvex optimization problems. This paper performs full-state-feedback…
This paper studies asymptotic consensus in systems in which agents do not necessarily have self-confidence, i.e., may disregard their own value during execution of the update rule. We show that the prevalent hypothesis of self-confidence in…
Generally, system failures, such as crash failures, Byzantine failures and so on, are considered as common reasons for the inconsistencies of distributed consensus and have been extensively studied. In fact, strategic manipulations by…
This paper addresses the problem of reaching consensus under input saturation and intermittent communication, which can hinder the convergence of the system. We propose a method that translates the consensus into an equivalent stability…
Motivated by various distributed control applications, we consider a linear system with Gaussian noise observed by multiple sensors which transmit measurements over a dynamic lossy network. We characterize the stationary optimal sensor…
This paper introduces a family of leaderless Byzantine fault tolerance protocols, built around a metastable mechanism via network subsampling. These protocols provide a strong probabilistic safety guarantee in the presence of Byzantine…
Synchronous consensus protocols offer a significant advantage over their asynchronous and partially synchronous counterparts by providing higher fault tolerance -- an essential benefit in distributed systems, like blockchains, where…
We introduce Conformal Decision Theory, a framework for producing safe autonomous decisions despite imperfect machine learning predictions. Examples of such decisions are ubiquitous, from robot planning algorithms that rely on pedestrian…
This paper studies a distributed algorithm for constrained consensus optimization that is obtained by fusing the Arrow-Hurwicz-Uzawa primal-dual gradient method for centralized constrained optimization and the Wang-Elia method for…
This paper investigates the problem of consensus tracking control of discrete time multi-agent systems under binary-valued communication. Different from most existing studies on consensus tracking, the transmitted information between agents…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
In this paper, we study distributed consensus in synchronous systems subject to both unexpected crash failures and strategic manipulations by rational agents in the system. We adapt the concept of collusion-resistant Nash equilibrium to…
In this work, we study the consensus problem in which legitimate agents send their values over an undirected communication network in the presence of an unknown subset of malicious or faulty agents. In contrast to former works, we…
We consider a two-sided matching problem with a defined notion of pairwise stability. We propose a distributed blind matching algorithm (BLMA) to solve the problem. We prove the solution produced by BLMA will converge to an…