相关论文: Moving Participants Turtle Consensus

The iterative consensus problem requires a set of processes or agents with different initial values, to interact and update their states to eventually converge to a common value. Protocols solving iterative consensus serve as building…

An adaptive delay-tolerant distributed space-time coding (DSTC) scheme with feedback is proposed for two-hop cooperative multiple-input multiple-output (MIMO) networks using an amplify-and-forward strategy and opportunistic relaying…

The connected and autonomous systems (CAS) and auto-driving era is coming into our life. To support CAS applications such as AI-driven decision-making and blockchain-based smart data management platform, data and message…

Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in real-world applications. To address these issues, techniques…

Switching communication topologies can cause instability in vehicle platoons, as vehicle information may be lost during the dynamic switching process. This highlights the need to design a controller capable of maintaining the stability of…

Attacks on a set of agents with cooperative and antagonistic interactions attempting to achieve linear bipartite consensus are considered here. In bipartite consensus, two clusters are formed, agents in each cluster converging to a final…

This paper proposes an iterative distributionally robust model predictive control (MPC) scheme to solve a risk-constrained infinite-horizon optimal control problem. In each iteration, the algorithm generates a trajectory from the starting…

Differential privacy (DP) is widely employed to provide privacy protection for individuals by limiting information leakage from the aggregated data. Two well-known models of DP are the central model and the local model. The former requires…

There is a resurgence of interest in Byzantine fault-tolerant (BFT) systems due to blockchains. However, leader-based BFT consensus protocols used by permissioned blockchains have limited scalability and robustness. To alleviate the leader…

The issue of security has become ever more prevalent in the analysis and design of cyber-physical systems. In this paper, we analyze a consensus network in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent…

This paper presents TetraBFT, a novel unauthenticated Byzantine fault tolerant protocol for solving consensus in partial synchrony, eliminating the need for public key cryptography and ensuring resilience against computationally unbounded…

We present a robust adaptive model predictive control (MPC) framework for nonlinear continuous-time systems with bounded parametric uncertainty and additive disturbance. We utilize general control contraction metrics (CCMs) to parameterize…

Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…

Most of the Blockchain permissioned systems employ Byzantine fault-tolerance (BFT) consensus protocols to ensure that honest validators agree on the order for appending entries to their ledgers. In this paper, we study the performance and…

This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower…

This paper studies the design of Byzantine consensus algorithms in an \textit{asynchronous }single-hop network equipped with the "abstract MAC layer" [DISC09], which captures core properties of modern wireless MAC protocols. Newport…

Consensus is one of the most fundamental distributed computing problems. In particular, it serves as a building block in many replication based fault-tolerant systems and in particular in multiple recent blockchain solutions. Depending on…

Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two…

In this paper we propose a novel consensus protocol for discrete-time multi-agent systems (MAS), which solves the dynamic consensus problem on the max value, i.e., the dynamic max-consensus problem. In the dynamic max-consensus problem to…

Consensus protocols are fundamental in distributed systems as they enable software with strong consistency properties. However, designing optimized protocols for specific use-cases under certain system assumptions is typically a laborious…