Related papers: When Distributed Consensus Meets Wireless Connecte…
In large-scale Internet of things networks, efficient medium access control (MAC) is critical due to the growing number of devices competing for limited communication resources. In this work, we consider a new challenge in which a set of…
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 algorithms form the foundation for many distributed algorithms by enabling multiple robots to converge to consistent estimates of global variables using only local communication. However, standard consensus protocols can be easily…
Average consensus is key for distributed networks, with applications ranging from network synchronization, distributed information fusion, decentralized control, to load balancing for parallel processors. Existing average consensus…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
This paper proposes a distributed algorithm for average consensus in a multi-agent system under a fixed bidirectional communication topology, in the presence of malicious agents (nodes) that may try to influence the average consensus…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
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 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…
When networked systems of autonomous agents carry out complex tasks, the control and coordination sought after generally depend on a few fundamental control primitives. Chief among these primitives is consensus, where agents are to converge…
Average consensus theory is intensely popular for building time synchronization in wireless sensor network (WSN). However, the average consensus-based time synchronization algorithm is based on iteration that pose challenges for efficiency,…
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…
With upcoming blockchain infrastructures, world-spanning Byzantine consensus is getting practical and necessary. In geographically distributed systems, the pace at which consensus is achieved is limited by the heterogenous latencies of…
This paper introduces Nemo-Nemo, a practical crash-fault tolerant (CFT) consensus protocol designed to outperform existing protocols in wide-area networks by bridging design principles from the CFT and Byzantine-fault tolerant (BFT) worlds.…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
A critical component of any blockchain or distributed ledger technology (DLT) platform is the consensus algorithm. Blockchain consensus algorithms are the primary vehicle for the nodes within a blockchain network to reach an agreement. In…
This paper introduces some tools from graph theory and distributed consensus algorithms to construct an optimal, yet robust, hierarchical information sharing structure for large-scale decision making and control problems. The proposed…
Motivated by the needs of resiliency, scalability, and plug-and-play operation, distributed decision-making is becoming increasingly prevalent. The problem of achieving consensus in a multi-agent system is at the core of distributed…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…