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216
Gossip algorithms for distributed signal processing
 PROCEEDINGS OF THE IEEE
, 2010
"... Gossip algorithms are attractive for innetwork processing in sensor networks because they do not require any specialized routing, there is no bottleneck or single point of failure, and they are robust to unreliable wireless network conditions. Recently, there has been a surge of activity in the co ..."
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Cited by 115 (29 self)
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Gossip algorithms are attractive for innetwork processing in sensor networks because they do not require any specialized routing, there is no bottleneck or single point of failure, and they are robust to unreliable wireless network conditions. Recently, there has been a surge of activity in the computer science, control, signal processing, and information theory communities, developing faster and more robust gossip algorithms and deriving theoretical performance guarantees. This paper presents an overview of recent work in the area. We describe convergence rate results, which are related to the number of transmittedmessages and thus the amount of energy consumed in the network for gossiping. We discuss issues related to gossiping over wireless links, including the effects of quantization and noise, and we illustrate the use of gossip algorithms for canonical signal processing tasks including distributed estimation, source localization, and compression.
On consensus algorithms for doubleintegrator dynamics
"... Abstract — This paper extends some existing results in consensus algorithms for doubleintegrator dynamics. We propose consensus algorithms for doubleintegrator dynamics in four cases: (i) with a bounded control input, (ii) without relative velocity measurement, (iii) without relative velocity me ..."
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Cited by 67 (5 self)
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Abstract — This paper extends some existing results in consensus algorithms for doubleintegrator dynamics. We propose consensus algorithms for doubleintegrator dynamics in four cases: (i) with a bounded control input, (ii) without relative velocity measurement, (iii) without relative velocity measurement in the presence of a group reference velocity, and (iv) with a bounded control input and with partial access to a group reference state. We show that consensus is reached asymptotically for the first two cases if the undirected interaction graph is connected. We further show that consensus is reached asymptotically for the third case if the directed interaction graph has a directed spanning tree and the gain for velocity matching with the group reference velocity is above a certain bound. We also show that consensus is reached asymptotically for the fourth case if and only if the group reference state flows directly or indirectly to all of the vehicles in the team. I.
Consensus Computation in Unreliable Networks: A System Theoretic Approach
, 2011
"... This work considers the problem of reaching consensus in an unreliable linear consensus network. A solution to this problem is relevant for several tasks in multiagent systems including motion coordination, clock synchronization, and cooperative estimation. By modeling the unreliable nodes as unkno ..."
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Cited by 57 (11 self)
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This work considers the problem of reaching consensus in an unreliable linear consensus network. A solution to this problem is relevant for several tasks in multiagent systems including motion coordination, clock synchronization, and cooperative estimation. By modeling the unreliable nodes as unknown and unmeasurable inputs affecting the network, we recast the problem into an unknowninput system theoretic framework. Only relying on their direct measurements, the agents detect and identify the misbehaving agents using fault detection and isolation techniques. We consider both the case that misbehaviors are simply caused by faults, or that they are the product of a definite, malignant “Byzantine ” strategy. We express the solvability conditions of the two cases in a system theoretic framework, and from a graph theoretic perspective. We show that generically any node can correctly detect and identify the misbehaving agents, provided that the connectivity of the network is sufficiently high. Precisely, for a linear consensus network to be generically resilient to k concurrent faults, the connectivity of the communication graph needs to be 2k + 1, if Byzantine agents are allowed, and k + 1, if noncolluding agents are considered. We finally provide algorithms for detecting and isolating misbehaving agents. The first procedure applies standard fault detection techniques, and affords complete intrusion detection if global knowledge of the graph is available to each agent, at a high computational cost. The second method is designed to exploit the presence in a network of weakly interconnected subparts, and provides computationally efficient detection of misbehaving agents whose behavior deviates more than a threshold, which is quantified in terms of the interconnection structure.
An overview of recent progress in the study of distributed multiagent coordination
, 2012
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Convergence of typesymmetric and cutbalanced consensus seeking systems (extended version)
, 1102
"... Abstract—We consider continuoustime consensus seeking systems whose timedependent interactions are cutbalanced, in the following sense: if a group of agents influences the remaining ones, the former group is also influenced by the remaining ones by at least a proportional amount. Models involving ..."
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Cited by 27 (7 self)
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Abstract—We consider continuoustime consensus seeking systems whose timedependent interactions are cutbalanced, in the following sense: if a group of agents influences the remaining ones, the former group is also influenced by the remaining ones by at least a proportional amount. Models involving symmetric interconnections and models in which a weighted average of the agent values is conserved are special cases. We prove that such systems always converge. We give a sufficient condition on the evolving interaction topology for the limit values of two agents to be the same. Conversely, we show that if our condition is not satisfied, then these limits are generically different. These results allow treating systems where the agent interactions are a priori unknown, e.g., random or determined endogenously by the agent values. We also derive corresponding results for discretetime systems. I.
Synchronization and Power Sharing for DroopControlled Inverters in Islanded Microgrids ⋆
"... Motivated by the recent and growing interest in smart grid technology, we study the operation of DC/AC inverters in an inductive microgrid. We show that a network of loads and DC/AC inverters equipped with powerfrequency droop controllers can be cast as a Kuramoto model of phasecoupled oscillators ..."
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Cited by 27 (8 self)
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Motivated by the recent and growing interest in smart grid technology, we study the operation of DC/AC inverters in an inductive microgrid. We show that a network of loads and DC/AC inverters equipped with powerfrequency droop controllers can be cast as a Kuramoto model of phasecoupled oscillators. This novel description, together with results from the theory of coupled oscillators, allows us to characterize the behavior of the network of inverters and loads. Specifically, we provide a necessary and sufficient condition for the existence of a synchronized solution that is unique and locally exponentially stable. We present a selection of controller gains leading to a desirable sharing of power among the inverters, and specify the set of loads which can be serviced without violating given actuation constraints. Moreover, we propose a distributed integral controller based on averaging algorithms, which dynamically regulates the system frequency in the presence of a timevarying load. Remarkably, this distributedaveraging integral controller has the additional property that it preserves the power sharing properties of the primary droop controller. Our results hold without assumptions on identical line characteristics or voltage magnitudes. Key words: inverters; powersystem control, smart power applications, synchronization, coupled oscillators, Kuramoto model, distributed control. 1
Consensus based overlapping decentralized estimation with missing observations and communication faults
 Automatica
, 2009
"... Abstract—In this technical note a new algorithm for state estimation is proposed in the form of a multiagent network based on a synergy between local Kalman filters and a dynamic consensus strategy between the agents. It is shown that it is possible, under general conditions concerning local resour ..."
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Cited by 23 (1 self)
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Abstract—In this technical note a new algorithm for state estimation is proposed in the form of a multiagent network based on a synergy between local Kalman filters and a dynamic consensus strategy between the agents. It is shown that it is possible, under general conditions concerning local resources and the network topology, to achieve asymptotic stability of the whole estimation algorithm by a proper choice of the consensus gains. It is demonstrated that the consensus gains can be obtained by minimizing the total meansquare estimation error. Capabilities of the network to achieve reduction of the measurement noise influence are also discussed. Index Terms—Consensus strategy, decentralized estimation, multiagent systems, optimization, overlapping decompositions, stability analysis. I.
Distributed pose averaging in camera networks via consensus on
 SE(3),” in International Conference on Distributed Smart Cameras
, 2008
"... In this paper, we propose distributed algorithms for estimating the average pose of an object viewed by a localized network of camera motes. To this effect, we propose distributed averaging consensus algorithms on the group of 3D rigidbody transformations, SE(3). We rigorously analyze the converge ..."
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Cited by 22 (9 self)
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In this paper, we propose distributed algorithms for estimating the average pose of an object viewed by a localized network of camera motes. To this effect, we propose distributed averaging consensus algorithms on the group of 3D rigidbody transformations, SE(3). We rigorously analyze the convergence of the proposed algorithms, and show that naive generalizations of Euclidean consensus algorithms fail to converge to the correct solution. We also provide synthetic experiments that confirm our analysis and validate our approach. Index Terms — camera sensor networks; pose estimation; consensus; optimization on manifolds. 1.