516 research outputs found
Exploiting Asynchrony in Multi-agent Con-sensus to Change the Agreement Point
Reaching agreement by consensus is fundamental to the operation of distributed systems, such as sensor networks, social networks or multi-robot networks. In real systems, the resource limitations available to individual agents and communication delays typically result in asynchronous control models of discreet time for consensus. In this paper, we model the problem where a set of agents arrive at a consensus on the value of a variable of interest, being guided by one of them
The Impact of RDMA on Agreement
Remote Direct Memory Access (RDMA) is becoming widely available in data
centers. This technology allows a process to directly read and write the memory
of a remote host, with a mechanism to control access permissions. In this
paper, we study the fundamental power of these capabilities. We consider the
well-known problem of achieving consensus despite failures, and find that RDMA
can improve the inherent trade-off in distributed computing between failure
resilience and performance. Specifically, we show that RDMA allows algorithms
that simultaneously achieve high resilience and high performance, while
traditional algorithms had to choose one or another. With Byzantine failures,
we give an algorithm that only requires processes (where
is the maximum number of faulty processes) and decides in two (network)
delays in common executions. With crash failures, we give an algorithm that
only requires processes and also decides in two delays. Both
algorithms tolerate a minority of memory failures inherent to RDMA, and they
provide safety in asynchronous systems and liveness with standard additional
assumptions.Comment: Full version of PODC'19 paper, strengthened broadcast algorith
Emergence of Consensus in a Multi-Robot Network: from Abstract Models to Empirical Validation
Consensus dynamics in decentralised multiagent systems are subject to intense studies, and several different models have been proposed and analysed. Among these, the naming game stands out for its simplicity and applicability to a wide range of phenomena and applications, from semiotics to engineering. Despite the wide range of studies available, the implementation of theoretical models in real distributed systems is not always straightforward, as the physical platform imposes several constraints that may have a bearing on the consensus dynamics. In this paper, we investigate the effects of an implementation of the naming game for the kilobot robotic platform, in which we consider concurrent execution of games and physical interferences. Consensus dynamics are analysed in the light of the continuously evolving communication network created by the robots, highlighting how the different regimes crucially depend on the robot density and on their ability to spread widely in the experimental arena. We find that physical interferences reduce the benefits resulting from robot mobility in terms of consensus time, but also result in lower cognitive load for individual agents
Online Distributed Learning over Random Networks
The recent deployment of multi-agent systems in a wide range of scenarios has
enabled the solution of learning problems in a distributed fashion. In this
context, agents are tasked with collecting local data and then cooperatively
train a model, without directly sharing the data. While distributed learning
offers the advantage of preserving agents' privacy, it also poses several
challenges in terms of designing and analyzing suitable algorithms. This work
focuses specifically on the following challenges motivated by practical
implementation: (i) online learning, where the local data change over time;
(ii) asynchronous agent computations; (iii) unreliable and limited
communications; and (iv) inexact local computations. To tackle these
challenges, we introduce the Distributed Operator Theoretical (DOT) version of
the Alternating Direction Method of Multipliers (ADMM), which we call the
DOT-ADMM Algorithm. We prove that it converges with a linear rate for a large
class of convex learning problems (e.g., linear and logistic regression
problems) toward a bounded neighborhood of the optimal time-varying solution,
and characterize how the neighborhood depends on~. We
corroborate the theoretical analysis with numerical simulations comparing the
DOT-ADMM Algorithm with other state-of-the-art algorithms, showing that only
the proposed algorithm exhibits robustness to (i)--(iv)
Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness
Robotic systems are more connected, networked, and distributed than ever. New
architectures that comply with the \textit{de facto} robotics middleware
standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid
systems deployed from edge to cloud. This paper reviews new architectures and
technologies that enable containerized robotic applications to seamlessly run
at the edge or in the cloud. We also overview systems that include solutions
from extension to ROS\,2 tooling to the integration of Kubernetes and ROS\,2.
Another important trend is robot learning, and how new simulators and cloud
simulations are enabling, e.g., large-scale reinforcement learning or
distributed federated learning solutions. This has also enabled deeper
integration of continuous interaction and continuous deployment (CI/CD)
pipelines for robotic systems development, going beyond standard software unit
tests with simulated tests to build and validate code automatically. We discuss
the current technology readiness and list the potential new application
scenarios that are becoming available. Finally, we discuss the current
challenges in distributed robotic systems and list open research questions in
the field
Engineering Resilient Collective Adaptive Systems by Self-Stabilisation
Collective adaptive systems are an emerging class of networked computational
systems, particularly suited in application domains such as smart cities,
complex sensor networks, and the Internet of Things. These systems tend to
feature large scale, heterogeneity of communication model (including
opportunistic peer-to-peer wireless interaction), and require inherent
self-adaptiveness properties to address unforeseen changes in operating
conditions. In this context, it is extremely difficult (if not seemingly
intractable) to engineer reusable pieces of distributed behaviour so as to make
them provably correct and smoothly composable.
Building on the field calculus, a computational model (and associated
toolchain) capturing the notion of aggregate network-level computation, we
address this problem with an engineering methodology coupling formal theory and
computer simulation. On the one hand, functional properties are addressed by
identifying the largest-to-date field calculus fragment generating
self-stabilising behaviour, guaranteed to eventually attain a correct and
stable final state despite any transient perturbation in state or topology, and
including highly reusable building blocks for information spreading,
aggregation, and time evolution. On the other hand, dynamical properties are
addressed by simulation, empirically evaluating the different performances that
can be obtained by switching between implementations of building blocks with
provably equivalent functional properties. Overall, our methodology sheds light
on how to identify core building blocks of collective behaviour, and how to
select implementations that improve system performance while leaving overall
system function and resiliency properties unchanged.Comment: To appear on ACM Transactions on Modeling and Computer Simulatio
Macroscopic Noisy Bounded Confidence Models with Distributed Radical Opinions
In this article, we study the nonlinear Fokker-Planck (FP) equation that
arises as a mean-field (macroscopic) approximation of bounded confidence
opinion dynamics, where opinions are influenced by environmental noises and
opinions of radicals (stubborn individuals). The distribution of radical
opinions serves as an infinite-dimensional exogenous input to the FP equation,
visibly influencing the steady opinion profile. We establish mathematical
properties of the FP equation. In particular, we (i) show the well-posedness of
the dynamic equation, (ii) provide existence result accompanied by a
quantitative global estimate for the corresponding stationary solution, and
(iii) establish an explicit lower bound on the noise level that guarantees
exponential convergence of the dynamics to stationary state. Combining the
results in (ii) and (iii) readily yields the input-output stability of the
system for sufficiently large noises. Next, using Fourier analysis, the
structure of opinion clusters under the uniform initial distribution is
examined. Specifically, two numerical schemes for identification of
order-disorder transition and characterization of initial clustering behavior
are provided. The results of analysis are validated through several numerical
simulations of the continuum-agent model (partial differential equation) and
the corresponding discrete-agent model (interacting stochastic differential
equations) for a particular distribution of radicals
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