Related papers: Modelling the Raft Distributed Consensus Protocol …
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
A new algorithm called accelerated projection-based consensus (APC) has recently emerged as a promising approach to solve large-scale systems of linear equations in a distributed fashion. The algorithm adopts the federated architecture, and…
Reconfiguration is one of the central mechanisms in distributed systems. Due to failures and connectivity disruptions, the very set of service replicas (or servers) and their roles in the computation may have to be reconfigured over time.…
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.…
In this work, we are interested in adaptive and distributed estimation of graph filters from streaming data. We formulate this problem as a consensus estimation problem over graphs, which can be addressed with diffusion LMS strategies. Most…
In this paper, we propose several consensus protocols of the first and second order for networked multi-agent systems and provide explicit representations for their asymptotic states. These representations involve the eigenprojection of the…
We consider the problem of multi-agent consensus where some agents are subject to faults/attacks and might make updates arbitrarily. The network consists of agents taking integer-valued (i.e., quantized) states under directed communication…
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 proposes distributed algorithms to solve robust convex optimization (RCO) when the constraints are affected by nonlinear uncertainty. We adopt a scenario approach by randomly sampling the uncertainty set. To facilitate the…
The Hashgraph consensus algorithm is an algorithm for asynchronous Byzantine fault tolerance intended for distributed shared ledgers. Its main distinguishing characteristic is it achieves consensus without exchanging any extra messages;…
A primary goal of online deliberation platforms is to identify ideas that are broadly agreeable to a community of users through their expressed preferences. Yet, consensus elicitation should ideally extend beyond the specific statements…
The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…
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).…
This paper defines a new consensus problem, convex consensus. Similar to vector consensus [13, 20, 19], the input at each process is a d-dimensional vector of reals (or, equivalently, a point in the d-dimensional Euclidean space). However,…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Mokka is a partial-synchronous, strong consistent BFT consensus algorithm for reaching the consensus about a certain value in open networks. This algorithm has some common approaches nested from RAFT, but its nature and design make Mokka a…
Average consensus (AC) strategies play a key role in every system that employs cooperation by means of distributed computations. To promote consensus, an $N$-agent network can repeatedly combine certain node estimates until their mean value…
The Heard-Of model is a simple and relatively expressive model of distributed computation. Because of this, it has gained a considerable attention of the verification community. We give a characterization of all algorithms solving consensus…
Randomized fault-tolerant consensus protocols with common coins are widely used in cloud computing and blockchain platforms. Due to their fundamental role, it is vital to guarantee their correctness. Threshold automata is a formal model…