Proceedings Article10.1109/CDC.2008.4738886
Quantized average consensus via dynamic coding/decoding schemes
Ruggero Carli,Francesco Bullo,Sandro Zampieri +2 more
- 01 Dec 2008
- pp 4916-4921
TL;DR: A consensus strategy in which the systems can exchange information among themselves according to a fixed connected digital communication network and two different encoding/decoding strategies are presented with theoretical and simulation results on their performance.
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Abstract: In the average consensus a set of linear systems has to be driven to the same final state which corresponds to the average of their initial states. This contribution presents a consensus strategy in which the systems can exchange information among themselves according to a fixed connected digital communication network. Beside the decentralized computational aspects induced by the choice of the communication network, we here have also to face the quantization effects due to the digital links. We here present and discuss two different encoding/decoding strategies with theoretical and simulation results on their performance.
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Citations
Quantization effects on synchronized motion of teams of mobile agents with second-order dynamics
TL;DR: It is shown that under the chosen symmetric uniform quantizers and with symmetric neighbor relationships, the agents’ velocities converge to the same value asymptotically while the differences of their positions converge to a bounded set.
53
Broadcast and Gossip Stochastic Average Consensus Algorithms in Directed Topologies
TL;DR: This work proposes two randomized algorithms over a directed communication graph where either a random node broadcast its value or a randomly selected pair of nodes communicate in a distributed fashion.
52
Consensus of High-Order Nonlinear Continuous-Time Systems With Uncertainty and Limited Communication Data Rate
TL;DR: This paper considers the consensus problem of high-order nonlinear continuous-time systems with limited communication rate with the aid of dynamic encoding and decoding and proposes distributed controllers designed such that the states of a group of systems without uncertainty reach consensus.
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Distributed averaging on digital erasure networks
TL;DR: It is shown how, in the presence of noiseless communication feedback, one can modify the algorithms, significantly improving their performance versus complexity trade-off.
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Robust consensus of multiple inertial agents with coupling delays and variable topologies
Gang Chen,Frank L. Lewis +1 more
TL;DR: In this article, the authors considered the exponential second-order consensus problem of a network of inertial agents with time-varying coupling delays and variable balanced topologies, and provided sufficient conditions for the consensus when the topology is switched arbitrarily and when it is switched with average dwell time.
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TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.