68,354 research outputs found
Byzantine Vector Consensus in Complete Graphs
Consider a network of n processes each of which has a d-dimensional vector of
reals as its input. Each process can communicate directly with all the
processes in the system; thus the communication network is a complete graph.
All the communication channels are reliable and FIFO (first-in-first-out). The
problem of Byzantine vector consensus (BVC) requires agreement on a
d-dimensional vector that is in the convex hull of the d-dimensional input
vectors at the non-faulty processes. We obtain the following results for
Byzantine vector consensus in complete graphs while tolerating up to f
Byzantine failures:
* We prove that in a synchronous system, n >= max(3f+1, (d+1)f+1) is
necessary and sufficient for achieving Byzantine vector consensus.
* In an asynchronous system, it is known that exact consensus is impossible
in presence of faulty processes. For an asynchronous system, we prove that n >=
(d+2)f+1 is necessary and sufficient to achieve approximate Byzantine vector
consensus.
Our sufficiency proofs are constructive. We show sufficiency by providing
explicit algorithms that solve exact BVC in synchronous systems, and
approximate BVC in asynchronous systems.
We also obtain tight bounds on the number of processes for achieving BVC
using algorithms that are restricted to a simpler communication pattern
Relaxed Byzantine Vector Consensus
Exact Byzantine consensus problem requires that non-faulty processes reach
agreement on a decision (or output) that is in the convex hull of the inputs at
the non-faulty processes. It is well-known that exact consensus is impossible
in an asynchronous system in presence of faults, and in a synchronous system,
n>=3f+1 is tight on the number of processes to achieve exact Byzantine
consensus with scalar inputs, in presence of up to f Byzantine faulty
processes. Recent work has shown that when the inputs are d-dimensional vectors
of reals, n>=max(3f+1,(d+1)f+1) is tight to achieve exact Byzantine consensus
in synchronous systems, and n>= (d+2)f+1 for approximate Byzantine consensus in
asynchronous systems.
Due to the dependence of the lower bound on vector dimension d, the number of
processes necessary becomes large when the vector dimension is large. With the
hope of reducing the lower bound on n, we consider two relaxed versions of
Byzantine vector consensus: k-Relaxed Byzantine vector consensus and
(delta,p)-Relaxed Byzantine vector consensus. In k-relaxed consensus, the
validity condition requires that the output must be in the convex hull of
projection of the inputs onto any subset of k-dimensions of the vectors. For
(delta,p)-consensus the validity condition requires that the output must be
within distance delta of the convex hull of the inputs of the non-faulty
processes, where L_p norm is used as the distance metric. For
(delta,p)-consensus, we consider two versions: in one version, delta is a
constant, and in the second version, delta is a function of the inputs
themselves.
We show that for k-relaxed consensus and (delta,p)-consensus with constant
delta>=0, the bound on n is identical to the bound stated above for the
original vector consensus problem. On the other hand, when delta depends on the
inputs, we show that the bound on n is smaller when d>=3
Riemannian consensus for manifolds with bounded curvature
Consensus algorithms are popular distributed algorithms for computing aggregate quantities, such as averages, in ad-hoc wireless networks. However, existing algorithms mostly address the case where the measurements lie in Euclidean space. In this work we propose Riemannian consensus, a natural extension of existing averaging consensus algorithms to the case of Riemannian manifolds. Unlike previous generalizations, our algorithm is intrinsic and, in principle, can be applied to any complete Riemannian manifold. We give sufficient convergence conditions on Riemannian manifolds with bounded curvature and we analyze the differences with respect to the Euclidean case. We test the proposed algorithms on synthetic data sampled from the space of rotations, the sphere and the Grassmann manifold.This work was supported by the grant NSF CNS-0834470. Recommended by Associate Editor L. Schenato. (CNS-0834470 - NSF
On Conditions for Convergence to Consensus
A new theorem on conditions for convergence to consensus of a multiagent
time-dependent time-discrete dynamical system is presented. The theorem is
build up on the notion of averaging maps. We compare this theorem to results by
Moreau (IEEE Transactions on Automatic Control, vol. 50, no. 2, 2005) about
set-valued Lyapunov theory and convergence under switching communication
topologies. We give examples that point out differences of approaches including
examples where Moreau's theorem is not applicable but ours is. Further on, we
give examples that demonstrate that the theory of convergence to consensus is
still not complete.Comment: 5 pages, 2 columns, example adde
Self-learning voxel-based multi-camera occlusion maps for 3D reconstruction
The quality of a shape-from-silhouettes 3D reconstruction technique strongly depends on the completeness of the silhouettes from each of the cameras. Static occlusion, due to e.g. furniture, makes reconstruction difficult, as we assume no prior knowledge concerning shape and size of occluding objects in the scene. In this paper we present a self-learning algorithm that is able to build an occlusion map for each camera from a voxel perspective. This information is then used to determine which cameras need to be evaluated when reconstructing the 3D model at every voxel in the scene. We show promising results in a multi-camera setup with seven cameras where the object is significantly better reconstructed compared to the state of the art methods, despite the occluding object in the center of the room
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