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247
Information Consensus in Multivehicle Cooperative Control
, 2007
"... The abundance of embedded computational resources in autonomous vehicles enables enhanced operational effectiveness through cooperative teamwork in civilian and military applications. Compared to autonomous vehicles that perform solo missions, greater efficiency and operational capability can be rea ..."
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Cited by 228 (23 self)
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The abundance of embedded computational resources in autonomous vehicles enables enhanced operational effectiveness through cooperative teamwork in civilian and military applications. Compared to autonomous vehicles that perform solo missions, greater efficiency and operational capability can be realized from teams of autonomous vehicles operating in a coordinated fashion. Potential applications for multivehicle systems include spacebased interferometers, combat, surveillance, and reconnaissance systems, hazardous material handling, and distributed reconfigurable sensor networks. To enable these applications, various cooperative control capabilities need to be developed, including formation control, rendezvous, attitude alignment, flocking, foraging, task and role assign
Distributed average consensus with leastmeansquare deviation
 Journal of Parallel and Distributed Computing
, 2005
"... We consider a stochastic model for distributed average consensus, which arises in applications such as load balancing for parallel processors, distributed coordination of mobile autonomous agents, and network synchronization. In this model, each node updates its local variable with a weighted averag ..."
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Cited by 201 (5 self)
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We consider a stochastic model for distributed average consensus, which arises in applications such as load balancing for parallel processors, distributed coordination of mobile autonomous agents, and network synchronization. In this model, each node updates its local variable with a weighted average of its neighbors ’ values, and each new value is corrupted by an additive noise with zero mean. The quality of consensus can be measured by the total meansquare deviation of the individual variables from their average, which converges to a steadystate value. We consider the problem of finding the (symmetric) edge weights that result in the least meansquare deviation in steady state. We show that this problem can be cast as a convex optimization problem, so the global solution can be found efficiently. We describe some computational methods for solving this problem, and compare the weights and the meansquare deviations obtained by this method and several other weight design methods.
Quantized consensus
, 2007
"... We study the distributed averaging problem on arbitrary connected graphs, with the additional constraint that the value at each node is an integer. This discretized distributed averaging problem models several problems of interest, such as averaging in a network with finite capacity channels and loa ..."
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Cited by 150 (0 self)
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We study the distributed averaging problem on arbitrary connected graphs, with the additional constraint that the value at each node is an integer. This discretized distributed averaging problem models several problems of interest, such as averaging in a network with finite capacity channels and load balancing in a processor network. We describe simple randomized distributed algorithms which achieve consensus to the extent that the discrete nature of the problem permits. We give bounds on the convergence time of these algorithms for fully connected networks and linear networks.
Consensus in Ad Hoc WSNs With Noisy Links—Part II: Distributed Estimation and Smoothing of Random Signals
"... Abstract—Distributed algorithms are developed for optimal estimation of stationary random signals and smoothing of (even nonstationary) dynamical processes based on generally correlated observations collected by ad hoc wireless sensor networks (WSNs). Maximum a posteriori (MAP) and linear minimum me ..."
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Cited by 100 (7 self)
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Abstract—Distributed algorithms are developed for optimal estimation of stationary random signals and smoothing of (even nonstationary) dynamical processes based on generally correlated observations collected by ad hoc wireless sensor networks (WSNs). Maximum a posteriori (MAP) and linear minimum meansquare error (LMMSE) schemes, well appreciated for centralized estimation, are shown possible to reformulate for distributed operation through the iterative (alternatingdirection) method of multipliers. Sensors communicate with singlehop neighbors their individual estimates as well as multipliers measuring how far local estimates are from consensus. When iterations reach consensus, the resultant distributed (D) MAP and LMMSE estimators converge to their centralized counterparts when intersensor communication links are ideal. The DMAP estimators do not require the desired estimator to be expressible in closed form, the DLMMSE ones are provably robust to communication or quantization noise and both are particularly simple to implement when the data model is linearGaussian. For decentralized tracking applications, distributed Kalman filtering and smoothing algorithms are derived for anytime MMSE optimal consensusbased state estimation using WSNs. Analysis and corroborating numerical examples demonstrate the merits of the novel distributed estimators. Index Terms—Distributed estimation, Kalman smoother, nonlinear optimization, wireless sensor networks (WSNs).
Broadcast gossip algorithms for consensus
 IEEE Trans. Signal Process
, 2009
"... Abstract—Motivated by applications to wireless sensor, peertopeer, and ad hoc networks, we study distributed broadcasting algorithms for exchanging information and computing in an arbitrarily connected network of nodes. Specifically, we study a broadcastingbased gossiping algorithm to compute th ..."
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Cited by 95 (6 self)
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Abstract—Motivated by applications to wireless sensor, peertopeer, and ad hoc networks, we study distributed broadcasting algorithms for exchanging information and computing in an arbitrarily connected network of nodes. Specifically, we study a broadcastingbased gossiping algorithm to compute the (possibly weighted) average of the initial measurements of the nodes at every node in the network. We show that the broadcast gossip algorithm converges almost surely to a consensus. We prove that the random consensus value is, in expectation, the average of initial node measurements and that it can be made arbitrarily close to this value in mean squared error sense, under a balanced connectivity model and by trading off convergence speed with accuracy of the computation. We provide theoretical and numerical results on the mean square error performance, on the convergence rate and study the effect of the “mixing parameter ” on the convergence rate of the broadcast gossip algorithm. The results indicate that the mean squared error strictly decreases through iterations until the consensus is achieved. Finally, we assess and compare the communication cost of the broadcast gossip algorithm to achieve a given distance to consensus through theoretical and numerical results. Index Terms—Broadcasting, distributed average consensus, gossip algorithms, sensor networks. I.
Consensus propagation
 IEEE Transactions on Information Theory
"... Abstract — We propose consensus propagation, an asynchronous distributed protocol for averaging numbers across a network. We establish convergence, characterize the convergence rate for regular graphs, and demonstrate that the protocol exhibits better scaling properties than pairwise averaging, an a ..."
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Cited by 89 (5 self)
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Abstract — We propose consensus propagation, an asynchronous distributed protocol for averaging numbers across a network. We establish convergence, characterize the convergence rate for regular graphs, and demonstrate that the protocol exhibits better scaling properties than pairwise averaging, an alternative that has received much recent attention. Consensus propagation can be viewed as a special case of belief propagation, and our results contribute to the belief propagation literature. In particular, beyond singlyconnected graphs, there are very few classes of relevant problems for which belief propagation is known to converge. Index Terms — belief propagation, distributed averaging, distributed consensus, distributed signal processing, Gaussian Markov random fields, messagepassing algorithms, maxproduct algorithm, minsum algorithm, sumproduct algorithm. I.
A necessary and sufficient condition for consensus over random networks
 IEEE Transactions on Automatic Control
, 2008
"... Abstract — In this paper we consider the consensus problem for stochastic switched linear dynamical systems. For discretetime and continuoustime stochastic switched linear systems, we present necessary and sufficient conditions under which such systems reach a consensus almost surely. In the discre ..."
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Cited by 84 (6 self)
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Abstract — In this paper we consider the consensus problem for stochastic switched linear dynamical systems. For discretetime and continuoustime stochastic switched linear systems, we present necessary and sufficient conditions under which such systems reach a consensus almost surely. In the discretetime case, our assumption is that the underlying graph of the system at any given time instance is derived from a random graph process, independent of other time instances. These graphs can be weighted, directed and with dependent edges. For the continuoustime case, we assume that the switching is governed by a Poisson point process and the graphs characterizing the topology of the system are independent and identically distributed over time. For both such frameworks, we present necessary and sufficient conditions for almost sure asymptotic consensus using simple ergodicity and probabilistic arguments. These easily verifiable conditions depend on the spectrum of the average weight matrix and the average Laplacian matrix for the discretetime and continuoustime cases, respectively. I.
Decentralized Compression and Predistribution via Randomized Gossiping
 in Proc. of the Fifth International Symposium on Information Processing in Sensor Networks (IPSN
, 2006
"... Developing energy efficient strategies for the extraction, transmission, and dissemination of information is a core theme in wireless sensor network research. In this paper we present a novel system for decentralized data compression and predistribution. The system simultaneously computes random pro ..."
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Cited by 81 (17 self)
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Developing energy efficient strategies for the extraction, transmission, and dissemination of information is a core theme in wireless sensor network research. In this paper we present a novel system for decentralized data compression and predistribution. The system simultaneously computes random projections of the sensor data and disseminates them throughout the network using a simple gossiping algorithm. These summary statistics are stored in an efficient manner and can be extracted from a small subset of nodes anywhere in the network. From these measurements one can reconstruct an accurate approximation of the data at all nodes in the network, provided the original data is compressible in a certain sense which need not be known to the nodes ahead of time. The system provides a practical and universal approach to decentralized compression and content distribution in wireless sensor networks. Two example applications, network health monitoring and field estimation, demonstrate the utility of our method.