8 research outputs found
On Endogenous Random Consensus and Averaging Dynamics
Motivated by various random variations of Hegselmann-Krause model for opinion
dynamics and gossip algorithm in an endogenously changing environment, we
propose a general framework for the study of endogenously varying random
averaging dynamics, i.e.\ an averaging dynamics whose evolution suffers from
history dependent sources of randomness. We show that under general assumptions
on the averaging dynamics, such dynamics is convergent almost surely. We also
determine the limiting behavior of such dynamics and show such dynamics admit
infinitely many time-varying Lyapunov functions
Continuous-Time Consensus under Non-Instantaneous Reciprocity
We consider continuous-time consensus systems whose interactions satisfy a
form or reciprocity that is not instantaneous, but happens over time. We show
that these systems have certain desirable properties: They always converge
independently of the specific interactions taking place and there exist simple
conditions on the interactions for two agents to converge to the same value.
This was until now only known for systems with instantaneous reciprocity. These
result are of particular relevance when analyzing systems where interactions
are a priori unknown, being for example endogenously determined or random. We
apply our results to an instance of such systems.Comment: 12 pages, 4 figure
Recurrent Averaging Inequalities in Multi-Agent Control and Social Dynamics Modeling
Many multi-agent control algorithms and dynamic agent-based models arising in
natural and social sciences are based on the principle of iterative averaging.
Each agent is associated to a value of interest, which may represent, for
instance, the opinion of an individual in a social group, the velocity vector
of a mobile robot in a flock, or the measurement of a sensor within a sensor
network. This value is updated, at each iteration, to a weighted average of
itself and of the values of the adjacent agents. It is well known that, under
natural assumptions on the network's graph connectivity, this local averaging
procedure eventually leads to global consensus, or synchronization of the
values at all nodes. Applications of iterative averaging include, but are not
limited to, algorithms for distributed optimization, for solution of linear and
nonlinear equations, for multi-robot coordination and for opinion formation in
social groups. Although these algorithms have similar structures, the
mathematical techniques used for their analysis are diverse, and conditions for
their convergence and differ from case to case. In this paper, we review many
of these algorithms and we show that their properties can be analyzed in a
unified way by using a novel tool based on recurrent averaging inequalities
(RAIs). We develop a theory of RAIs and apply it to the analysis of several
important multi-agent algorithms recently proposed in the literature