9,845 research outputs found
Fast Discrete Consensus Based on Gossip for Makespan Minimization in Networked Systems
In this paper we propose a novel algorithm to solve the discrete consensus problem, i.e., the problem of distributing evenly a set of tokens of arbitrary weight among the nodes of a networked system. Tokens are tasks to be executed by the nodes and the proposed distributed algorithm minimizes monotonically the makespan of the assigned tasks. The algorithm is based on gossip-like asynchronous local interactions between the nodes. The convergence time of the proposed algorithm is superior with respect to the state of the art of discrete and quantized consensus by at least a factor O(n) in both theoretical and empirical comparisons
Persistence based analysis of consensus protocols for dynamic graph networks
This article deals with the consensus problem involving agents with
time-varying singularities in the dynamics or communication in undirected graph
networks. Existing results provide control laws which guarantee asymptotic
consensus. These results are based on the analysis of a system switching
between piecewise constant and time-invariant dynamics. This work introduces a
new analysis technique relying upon classical notions of persistence of
excitation to study the convergence properties of the time-varying multi-agent
dynamics. Since the individual edge weights pass through singularities and vary
with time, the closed-loop dynamics consists of a non-autonomous linear system.
Instead of simplifying to a piecewise continuous switched system as in
literature, smooth variations in edge weights are allowed, albeit assuming an
underlying persistence condition which characterizes sufficient inter-agent
communication to reach consensus. The consensus task is converted to
edge-agreement in order to study a stabilization problem to which classical
persistence based results apply. The new technique allows precise computation
of the rate of convergence to the consensus value.Comment: This article contains 7 pages and includes 4 figures. it is accepted
in 13th European Control Conferenc
On distributed virtual network embedding with guarantees
To provide wide-area network services, resources from different infrastructure providers are needed. Leveraging the consensus-based resource allocation literature, we propose a general distributed auction mechanism for the (NP-hard) virtual network (VNET) embedding problem. Under reasonable assumptions on the bidding scheme, the proposed mechanism is proven to converge, and it is shown that the solutions guarantee a worst-case efficiency of (1-(1/e)) relative to the optimal node embedding, or VNET embedding if virtual links are mapped to exactly one physical link. This bound is optimal, that is, no better polynomial-time approximation algorithm exists, unless P=NP. Using extensive simulations, we confirm superior convergence properties and resource utilization when compared to existing distributed VNET embedding solutions, and we show how by appropriate policy design, our mechanism can be instantiated to accommodate the embedding goals of different service and infrastructure providers, resulting in an attractive and flexible resource allocation solution.CNS-0963974 - National Science Foundationhttp://www.cs.bu.edu/fac/matta/Papers/ToN-CAD.pdfAccepted manuscrip
FROST -- Fast row-stochastic optimization with uncoordinated step-sizes
In this paper, we discuss distributed optimization over directed graphs,
where doubly-stochastic weights cannot be constructed. Most of the existing
algorithms overcome this issue by applying push-sum consensus, which utilizes
column-stochastic weights. The formulation of column-stochastic weights
requires each agent to know (at least) its out-degree, which may be impractical
in e.g., broadcast-based communication protocols. In contrast, we describe
FROST (Fast Row-stochastic-Optimization with uncoordinated STep-sizes), an
optimization algorithm applicable to directed graphs that does not require the
knowledge of out-degrees; the implementation of which is straightforward as
each agent locally assigns weights to the incoming information and locally
chooses a suitable step-size. We show that FROST converges linearly to the
optimal solution for smooth and strongly-convex functions given that the
largest step-size is positive and sufficiently small.Comment: Submitted for journal publication, currently under revie
Distributed task allocation optimisation techniques in multi-agent systems
A multi-agent system consists of a number of agents, which may include software agents, robots, or even humans, in some application environment. Multi-robot systems are increasingly being employed to complete jobs and missions in various fields including search and rescue, space and underwater exploration, support in healthcare facilities, surveillance and target tracking, product manufacturing, pick-up and delivery, and logistics.
Multi-agent task allocation is a complex problem compounded by various constraints such as deadlines, agent capabilities, and communication delays. In high-stake real-time environments, such as rescue missions, it is difficult to predict in advance what the requirements of the mission will be, what resources will be available, and how to optimally employ such resources. Yet, a fast response and speedy execution are critical to the outcome.
This thesis proposes distributed optimisation techniques to tackle the following questions: how to maximise the number of assigned tasks in time restricted environments with limited resources; how to reach consensus on an execution plan across many agents, within a reasonable time-frame; and how to maintain robustness and optimality when factors change, e.g. the number of agents changes. Three novel approaches are proposed to address each of these questions. A novel algorithm is proposed to reassign tasks and free resources that allow the completion of more tasks. The introduction of a rank-based system for conflict resolution is shown to reduce the time for the agents to reach consensus while maintaining equal number of allocations. Finally, this thesis proposes an adaptive data-driven algorithm to learn optimal strategies from experience in different scenarios, and to enable individual agents to adapt their strategy during execution. A simulated rescue scenario is used to demonstrate the performance of the proposed methods compared with existing baseline methods
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