700 research outputs found
Gossip consensus and averaging algorithms with quantization
Abstract-We study distributed consensus problems of multiagent systems on directed networks and subject to quantized information flow. For the communication among component agents, particular attention is given to the gossip type, which models their asynchronous behaviors; for quantization effects, each agent's state is abstracted to be an integer. The central question investigated is how to design distributed algorithms and what connectivity of networks that together lead to consensus. This investigation is carried out for both general consensus and average consensus; for each case, a class of algorithms is proposed, under which a necessary and sufficient graphical condition is derived to guarantee the corresponding consensus. In particular, the obtained graphical condition ensuring average consensus is weaker than those in the literature for either realvalued or quantized states, in the sense that it does not require symmetric (or balanced) network topologies
Resilient Randomized Quantized Consensus
We consider the problem of multi-agent consensus where some agents are
subject to faults/attacks and might make updates arbitrarily. The network
consists of agents taking integer-valued (i.e., quantized) states under
directed communication links. The goal of the healthy normal agents is to form
consensus in their state values, which may be disturbed by the non-normal,
malicious agents. We develop update schemes to be equipped by the normal agents
whose interactions are asynchronous and subject to non-uniform and time-varying
time delays. In particular, we employ a variant of the so-called mean
subsequence reduced (MSR) algorithms, which have been long studied in computer
science, where each normal agent ignores extreme values from its neighbors. We
solve the resilient quantized consensus problems in the presence of
totally/locally bounded adversarial agents and provide necessary and sufficient
conditions in terms of the connectivity notion of graph robustness.
Furthermore, it will be shown that randomization is essential both in
quantization and in the updating times when normal agents interact in an
asynchronous manner. The results are examined through a numerical example.Comment: 15 pages, 13 figure
Limited Rate Distributed Weight-Balancing and Average Consensus Over Digraphs
Distributed quantized weight-balancing and average consensus over fixed
digraphs are considered. A digraph with non-negative weights associated to its
edges is weight-balanced if, for each node, the sum of the weights of its
out-going edges is equal to that of its incoming edges. This paper proposes and
analyzes the first distributed algorithm that solves the weight-balancing
problem using only finite rate and simplex communications among nodes
(compliant to the directed nature of the graph edges). Asymptotic convergence
of the scheme is proved and a convergence rate analysis is provided. Building
on this result, a novel distributed algorithm is proposed that solves the
average consensus problem over digraphs, using, at each iteration, finite rate
simplex communications between adjacent nodes -- some bits for the
weight-balancing problem, other for the average consensus. Convergence of the
proposed quantized consensus algorithm to the average of the real (i.e.,
unquantized) agent's initial values is proved, both almost surely and in th
mean for all positive integer . Finally, numerical results validate our
theoretical findings.Comment: Part of this work will be presented at the 57th IEEE Conference on
Decision and Contro
Edge Agreement of Second-order Multi-agent System with Dynamic Quantization via Directed Edge Laplacian
This work explores the edge agreement problem of second-order multi-agent
system with dynamic quantization under directed communication. To begin with,
by virtue of the directed edge laplacian, we derive a model reduction
representation of the closed-loop multi-agent system depended on the spanning
tree subgraph. Considering the limitations of the finite bandwidth channels,
the quantization effects of second-order multi-agent system under directed
graph are considered. Motivated by the observation that the static quantizer
always lead to the practical stability rather than the asymptotic stability,
the dynamic quantized communication strategy referring to the rooming
in-rooming out scheme is employed. Based on the reduced model associated with
the essential edge Laplacian, the asymptotic stability of second-order
multi-agent system under dynamic quantized effects with only finite
quantization level can be guaranteed. Finally, simulation results are provided
to verify the theoretical analysis.Comment: 21 pages; submitted to Nonlinear Analysis: Hybrid Systems, Ms. Ref.
No.: NAHS-D-15-00161. arXiv admin note: substantial text overlap with
arXiv:1501.0667
Coordination Over Multi-Agent Networks With Unmeasurable States and Finite-Level Quantization
In this note, the coordination of linear discrete-time multi-agent systems
over digital networks is investigated with unmeasurable states in agents'
dynamics. The quantized-observer based communication protocols and Certainty
Equivalence principle based control protocols are proposed to characterize the
inter-agent communication and the cooperative control in an integrative
framework. By investigating the structural and asymptotic properties of the
equations of stabilization and estimation errors nonlinearly coupled by the
finite-level quantization scheme, some necessary conditions and sufficient
conditions are given for the existence of such communication and control
protocols to ensure the inter-agent state observation and cooperative
stabilization. It is shown that these conditions come down to the simultaneous
stabilizability and the detectability of the dynamics of agents and the
structure of the communication network.Comment: 10 pages, 2 figure
A Robust Gradient Tracking Method for Distributed Optimization over Directed Networks
In this paper, we consider the problem of distributed consensus optimization
over multi-agent networks with directed network topology. Assuming each agent
has a local cost function that is smooth and strongly convex, the global
objective is to minimize the average of all the local cost functions. To solve
the problem, we introduce a robust gradient tracking method (R-Push-Pull)
adapted from the recently proposed Push-Pull/AB algorithm. R-Push-Pull inherits
the advantages of Push-Pull and enjoys linear convergence to the optimal
solution with exact communication. Under noisy information exchange,
R-Push-Pull is more robust than the existing gradient tracking based
algorithms; the solutions obtained by each agent reach a neighborhood of the
optimum in expectation exponentially fast under a constant stepsize policy. We
provide a numerical example that demonstrate the effectiveness of R-Push-Pull
Quantized Consensus by the ADMM: Probabilistic versus Deterministic Quantizers
This paper develops efficient algorithms for distributed average consensus
with quantized communication using the alternating direction method of
multipliers (ADMM). We first study the effects of probabilistic and
deterministic quantizations on a distributed ADMM algorithm. With probabilistic
quantization, this algorithm yields linear convergence to the desired average
in the mean sense with a bounded variance. When deterministic quantization is
employed, the distributed ADMM either converges to a consensus or cycles with a
finite period after a finite-time iteration. In the cyclic case, local
quantized variables have the same mean over one period and hence each node can
also reach a consensus. We then obtain an upper bound on the consensus error
which depends only on the quantization resolution and the average degree of the
network. Finally, we propose a two-stage algorithm which combines both
probabilistic and deterministic quantizations. Simulations show that the
two-stage algorithm, without picking small algorithm parameter, has consensus
errors that are typically less than one quantization resolution for all
connected networks where agents' data can be of arbitrary magnitudes.Comment: This version updates the corresponding TSP paper where Theorem 4 was
incorrec
r-Robustness and (r,s)-Robustness of Circulant Graphs
There has been recent growing interest in graph theoretical properties known
as r- and (r,s)-robustness. These properties serve as sufficient conditions
guaranteeing the success of certain consensus algorithms in networks with
misbehaving agents present. Due to the complexity of determining the robustness
for an arbitrary graph, several methods have previously been proposed for
identifying the robustness of specific classes of graphs or constructing graphs
with specified robustness levels. The majority of such approaches have focused
on undirected graphs. In this paper we identify a class of scalable directed
graphs whose edge set is determined by a parameter k and prove that the
robustness of these graphs is also determined by k. We support our results
through computer simulations.Comment: 6 pages, 6 figures. Accepted to 2017 IEEE CD
Multi-Agent Distributed Coordination Control: Developments and Directions
In this paper, the recent developments on distributed coordination control,
especially the consensus and formation control, are summarized with the graph
theory playing a central role, in order to present a cohesive overview of the
multi-agent distributed coordination control, together with brief reviews of
some closely related issues including rendezvous/alignment, swarming/flocking
and containment control.In terms of the consensus problem, the recent results
on consensus for the agents with different dynamics from first-order,
second-order to high-order linear and nonlinear dynamics, under different
communication conditions, such as cases with/without switching communication
topology and varying time-delays, are reviewed, in which the algebraic graph
theory is very useful in the protocol designs, stability proofs and converging
analysis. In terms of the formation control problem, after reviewing the
results of the algebraic graph theory employed in the formation control, we
mainly pay attention to the developments of the rigid and persistent graphs.
With the notions of rigidity and persistence, the formation transformation,
splitting and reconstruction can be completed, and consequently the range-based
formation control laws are designed with the least required information in
order to maintain a formation rigid/persistent. Afterwards, the recent results
on rendezvous/alignment, swarming/flocking and containment control, which are
very closely related to consensus and formation control, are briefly
introduced, in order to present an integrated view of the graph theory used in
the coordination control problem. Finally, towards the practical applications,
some directions possibly deserving investigation in coordination control are
raised as well.Comment: 28 pages, 8 figure
Distributed Average Consensus with Bounded Quantizer and Unbounded Input
This paper considers distributed average consensus using finite-bit bounded
quantizer with possibly unbounded data. Under the framework of the alternating
direction method of multipliers (ADMM), we develop distributed averaging
algorithms where each node iteratively updates using only the local information
and finitely quantized outputs from its neighbors. It is shown that all the
agent variables either converge to the same quantization level or cycle around
the data average after finite iterations. An error bound for the consensus
value is established, which turns out to be the same as that of using the
unbounded rounding quantizer provided that an algorithm parameter (i.e., ADMM
step size) is small enough. We also analyze the effect of the algorithm
parameter and propose an adaptive parameter selection strategy that only
requires knowledge of the number of agents in order to accelerate the algorithm
with certain consensus accuracy guarantee. Finally, simulations are performed
to illustrate the effectiveness of the proposed algorithms.Comment: Submitted to IEEE Trans. Signal Processin
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