相关论文: Resilient Consensus via Voronoi Communication Grap…

We consider distributed algorithms for data aggregation and function computation in sensor networks. The algorithms perform pairwise computations along edges of an underlying communication graph. A token is associated with each sensor node,…

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…

Multi-robot systems (MRS) rely on exchanging raw sensory data to cooperate in complex three-dimensional (3D) environments. However, this strategy often leads to severe communication congestion and high transmission latency, significantly…

Inspired by distributed resource allocation problems in dynamic topology networks, we initiate the study of distributed consensus with finite messaging passing. We first find a sufficient condition on the network graph for which no…

In this paper, we study the resilient vector consensus problem in networks with adversarial agents and improve resilience guarantees of existing algorithms. A common approach to achieving resilient vector consensus is that every…

In several applications in distributed systems, an important design criterion is ensuring that the network is sparse, i.e., does not contain too many edges, while achieving reliable connectivity. Sparsity ensures communication overhead…

This paper address the challenges encountered by developers when deploying a distributed decision-making behavior on heterogeneous robotic systems. Many applications benefit from the use of multiple robots, but their scalability and…

We provide a protocol for real-valued average consensus by networks of agents which exchange only a single message from the ternary alphabet {-1,0,1} between neighbors at each step. Our protocol works on time-varying undirected graphs…

This paper studies the robustness of a dynamic average consensus algorithm to communication delay over strongly connected and weight-balanced (SCWB) digraphs. Under delay-free communication, the algorithm of interest achieves a practical…

A spatially distributed system contains a large amount of agents with limited sensing, data processing, and communication capabilities. Recent technological advances have opened up possibilities to deploy spatially distributed systems for…

Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…

We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares with its neighbors. Additionally, each robot in the team…

This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…

In this note we give sufficient conditions for the convergence of the iterative algorithm called weighted-average consensus in directed graphs. We study the discrete-time form of this algorithm. We use standard techniques from matrix theory…

In this paper, we present a consensus-based framework for decentralized estimation of deterministic parameters in wireless sensor networks (WSNs). In particular, we propose an optimization algorithm to design (possibly complex) sensor gains…

Distributed consensus has been intensively studied in recent years as a means to mitigate state differences among dynamic nodes on a graph. It has been successfully employed in various applications, e.g., formation control of multi-robots,…

We study the problem of resilient average consensus for multi-agent systems with misbehaving nodes. To protect consensus valuefrom being influenced by misbehaving nodes, we address this problem by detecting misbehaviors, mitigating the…

This work considers the problem of resilient consensus where stochastic values of trust between agents are available. Specifically, we derive a unified mathematical framework to characterize convergence, deviation of the consensus from the…

The success of graph embeddings or node representation learning in a variety of downstream tasks, such as node classification, link prediction, and recommendation systems, has led to their popularity in recent years. Representation learning…

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.…