278,788 research outputs found
Distributed Decision Through Self-Synchronizing Sensor Networks in the Presence of Propagation Delays and Asymmetric Channels
In this paper we propose and analyze a distributed algorithm for achieving
globally optimal decisions, either estimation or detection, through a
self-synchronization mechanism among linearly coupled integrators initialized
with local measurements. We model the interaction among the nodes as a directed
graph with weights (possibly) dependent on the radio channels and we pose
special attention to the effect of the propagation delay occurring in the
exchange of data among sensors, as a function of the network geometry. We
derive necessary and sufficient conditions for the proposed system to reach a
consensus on globally optimal decision statistics. One of the major results
proved in this work is that a consensus is reached with exponential convergence
speed for any bounded delay condition if and only if the directed graph is
quasi-strongly connected. We provide a closed form expression for the global
consensus, showing that the effect of delays is, in general, the introduction
of a bias in the final decision. Finally, we exploit our closed form expression
to devise a double-step consensus mechanism able to provide an unbiased
estimate with minimum extra complexity, without the need to know or estimate
the channel parameters.Comment: To be published on IEEE Transactions on Signal Processin
The Naming Game in Social Networks: Community Formation and Consensus Engineering
We study the dynamics of the Naming Game [Baronchelli et al., (2006) J. Stat.
Mech.: Theory Exp. P06014] in empirical social networks. This stylized
agent-based model captures essential features of agreement dynamics in a
network of autonomous agents, corresponding to the development of shared
classification schemes in a network of artificial agents or opinion spreading
and social dynamics in social networks. Our study focuses on the impact that
communities in the underlying social graphs have on the outcome of the
agreement process. We find that networks with strong community structure hinder
the system from reaching global agreement; the evolution of the Naming Game in
these networks maintains clusters of coexisting opinions indefinitely. Further,
we investigate agent-based network strategies to facilitate convergence to
global consensus.Comment: The original publication is available at
http://www.springerlink.com/content/70370l311m1u0ng3
Opinion Dynamics in Social Networks with Hostile Camps: Consensus vs. Polarization
Most of the distributed protocols for multi-agent consensus assume that the
agents are mutually cooperative and "trustful," and so the couplings among the
agents bring the values of their states closer. Opinion dynamics in social
groups, however, require beyond these conventional models due to ubiquitous
competition and distrust between some pairs of agents, which are usually
characterized by repulsive couplings and may lead to clustering of the
opinions. A simple yet insightful model of opinion dynamics with both
attractive and repulsive couplings was proposed recently by C. Altafini, who
examined first-order consensus algorithms over static signed graphs. This
protocol establishes modulus consensus, where the opinions become the same in
modulus but may differ in signs. In this paper, we extend the modulus consensus
model to the case where the network topology is an arbitrary time-varying
signed graph and prove reaching modulus consensus under mild sufficient
conditions of uniform connectivity of the graph. For cut-balanced graphs, not
only sufficient, but also necessary conditions for modulus consensus are given.Comment: scheduled for publication in IEEE Transactions on Automatic Control,
2016, vol. 61, no. 7 (accepted in August 2015
Differential Inequalities in Multi-Agent Coordination and Opinion Dynamics Modeling
Distributed algorithms of multi-agent coordination have attracted substantial
attention from the research community; the simplest and most thoroughly studied
of them are consensus protocols in the form of differential or difference
equations over general time-varying weighted graphs. These graphs are usually
characterized algebraically by their associated Laplacian matrices. Network
algorithms with similar algebraic graph theoretic structures, called being of
Laplacian-type in this paper, also arise in other related multi-agent control
problems, such as aggregation and containment control, target surrounding,
distributed optimization and modeling of opinion evolution in social groups. In
spite of their similarities, each of such algorithms has often been studied
using separate mathematical techniques. In this paper, a novel approach is
offered, allowing a unified and elegant way to examine many Laplacian-type
algorithms for multi-agent coordination. This approach is based on the analysis
of some differential or difference inequalities that have to be satisfied by
the some "outputs" of the agents (e.g. the distances to the desired set in
aggregation problems). Although such inequalities may have many unbounded
solutions, under natural graphic connectivity conditions all their bounded
solutions converge (and even reach consensus), entailing the convergence of the
corresponding distributed algorithms. In the theory of differential equations
the absence of bounded non-convergent solutions is referred to as the
equation's dichotomy. In this paper, we establish the dichotomy criteria of
Laplacian-type differential and difference inequalities and show that these
criteria enable one to extend a number of recent results, concerned with
Laplacian-type algorithms for multi-agent coordination and modeling opinion
formation in social groups.Comment: accepted to Automatic
Consensus reaching in swarms ruled by a hybrid metric-topological distance
Recent empirical observations of three-dimensional bird flocks and human
crowds have challenged the long-prevailing assumption that a metric interaction
distance rules swarming behaviors. In some cases, individual agents are found
to be engaged in local information exchanges with a fixed number of neighbors,
i.e. a topological interaction. However, complex system dynamics based on pure
metric or pure topological distances both face physical inconsistencies in low
and high density situations. Here, we propose a hybrid metric-topological
interaction distance overcoming these issues and enabling a real-life
implementation in artificial robotic swarms. We use network- and
graph-theoretic approaches combined with a dynamical model of locally
interacting self-propelled particles to study the consensus reaching pro- cess
for a swarm ruled by this hybrid interaction distance. Specifically, we
establish exactly the probability of reaching consensus in the absence of
noise. In addition, simulations of swarms of self-propelled particles are
carried out to assess the influence of the hybrid distance and noise
Reaching Approximate Byzantine Consensus in Partially-Connected Mobile Networks
We consider the problem of approximate consensus in mobile networks
containing Byzantine nodes. We assume that each correct node can communicate
only with its neighbors and has no knowledge of the global topology. As all
nodes have moving ability, the topology is dynamic. The number of Byzantine
nodes is bounded by f and known by all correct nodes. We first introduce an
approximate Byzantine consensus protocol which is based on the linear iteration
method. As nodes are allowed to collect information during several consecutive
rounds, moving gives them the opportunity to gather more values. We propose a
novel sufficient and necessary condition to guarantee the final convergence of
the consensus protocol. The requirement expressed by our condition is not
"universal": in each phase it affects only a single correct node. More
precisely, at least one correct node among those that propose either the
minimum or the maximum value which is present in the network, has to receive
enough messages (quantity constraint) with either higher or lower values
(quality constraint). Of course, nodes' motion should not prevent this
requirement to be fulfilled. Our conclusion shows that the proposed condition
can be satisfied if the total number of nodes is greater than 3f+1.Comment: No. RR-7985 (2012
- …