Related papers: Resilient Consensus with Multi-hop Communication
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…
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…
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…
Multi-agent systems often communicate over low-power shared wireless networks in unlicensed spectrum, prone to denial-of-service attacks. We consider the following scenario: multiple pairs of agents communicating strategically over shared…
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorithms remain centralized, requiring information exchange and…
This paper proposes a multi-agent reinforcement learning based medium access framework for wireless networks. The access problem is formulated as a Markov Decision Process (MDP), and solved using reinforcement learning with every network…
Distributed diffusion is a powerful algorithm for multi-task state estimation which enables networked agents to interact with neighbors to process input data and diffuse information across the network. Compared to a centralized approach,…
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…
This paper proposes a class of distributed event-triggered algorithms that solve the average consensus problem in multi-agent systems. By designing events such that a specifically chosen Lyapunov function is monotonically decreasing,…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
This invited paper presents some novel ideas on how to enhance the performance of consensus algorithms in distributed wireless sensor networks, when communication costs are considered. Of particular interest are consensus algorithms that…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Three key factors in MWSNs, sensing quality, energy consumption, and connectivity, have attracted plenty of attention, but the interaction of…
Reactive jammers pose a severe security threat to robotic-swarm networks by selectively disrupting inter-agent communications and undermining formation integrity and mission success. Conventional countermeasures such as fixed power control…
As mission- and safety-critical wireless applications grow in complexity and diversity, next-generation wireless systems must meet increasingly stringent and multifaceted requirements. These systems demand resilience along with enhanced…
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…
Wireless Mesh Networks (WMNs) have evolved into a wireless communication technology of immense interest. But technological advancements in WMNs have inadvertently spawned a plethora of network performance bottlenecks, caused primarily by…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
The paper studies average consensus with random topologies (intermittent links) \emph{and} noisy channels. Consensus with noise in the network links leads to the bias-variance dilemma--running consensus for long reduces the bias of the…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…