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
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Francesco Bullo,Jorge E. Cortes,Sonia Martinez +2 more
- 26 Jul 2009
TL;DR: This self-contained introduction to the distributed control of robotic networks offers a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation.
Consensus of Multi-Agent Systems With General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols
TL;DR: This technical brief considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics and finds that the adaptive consensus protocols here can be implemented by each agent in a fully distributed fashion without using any global information.
850
Distributed consensus of linear multi-agent systems with adaptive dynamic protocols
TL;DR: This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics for both the cases without and with a leader whose control input might be nonzero and time varying, and proposes two types of distributed adaptive dynamic consensus protocols.
Network Topology and Communication Data Rate for Consensusability of Discrete-Time Multi-Agent Systems
Keyou You,Lihua Xie +1 more
TL;DR: In this article, a necessary and sufficient condition for consensusability under a common control protocol is given, which explicitly reveals how the intrinsic entropy rate of the agent dynamic and the communication graph jointly affect consensusability.
627
Convergence speed in distributed consensus and averaging
Alex Olshevsky,John N. Tsitsiklis +1 more
- 01 Feb 2009
TL;DR: In this paper, the convergence speed of distributed iterative algorithms for the consensus and averaging problems was studied, with emphasis on the latter problem, and lower bounds on the worst-case convergence time for various classes of linear, time-invariant, distributed consensus methods were established.
526
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Average consensus on networks with transmission noise or quantization
Ruggero Carli,Fabio Fagnani,Paolo Frasca,Thomas J. Taylor,Sandro Zampieri +4 more
- 02 Jul 2007
TL;DR: In this article, the average consensus algorithm in a distributed system of agents which are allowed to communicate according to a directed graph is studied, and the communication between connected agents is not perfect, but affected by some error, which can be either a random additive noise or produced by a quantization.
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