Reply to “Comments on “Consensus and Cooperation in Networked Multi-Agent Systems””

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Happiness is assortative in online social networks

Social networks tend to disproportionally favor connections between individuals with either similar or dissimilar characteristics. This propensity, referred to as assortative mixing or homophily, is expressed as the correlation between attribute values of nearest neighbour vertices in a graph. Recent results indicate that beyond demographic features such as age, sex and race, even psychological states such as "loneliness" can be assortative in a social network. In spite of the increasing societal importance of online social networks it is unknown whether assortative mixing of psychological states takes place in situations where social ties are mediated solely by online networking services in the absence of physical contact. Here, we show that general happiness or Subjective Well-Being (SWB) of Twitter users, as measured from a 6 month record of their individual tweets, is indeed assortative across the Twitter social network. To our knowledge this is the first result that shows assortative mixing in online networks at the level of SWB. Our results imply that online social networks may be equally subject to the social mechanisms that cause assortative mixing in real social networks and that such assortative mixing takes place at the level of SWB. Given the increasing prevalence of online social networks, their propensity to connect users with similar levels of SWB may be an important instrument in better understanding how both positive and negative sentiments spread through online social ties. Future research may focus on how event-specific mood states can propagate and influence user behavior in "real life".Comment: 17 pages, 9 figure

Fault-Tolerant Aggregation: Flow-Updating Meets Mass-Distribution

Flow-Updating (FU) is a fault-tolerant technique that has proved to be efficient in practice for the distributed computation of aggregate functions in communication networks where individual processors do not have access to global information. Previous distributed aggregation protocols, based on repeated sharing of input values (or mass) among processors, sometimes called Mass-Distribution (MD) protocols, are not resilient to communication failures (or message loss) because such failures yield a loss of mass. In this paper, we present a protocol which we call Mass-Distribution with Flow-Updating (MDFU). We obtain MDFU by applying FU techniques to classic MD. We analyze the convergence time of MDFU showing that stochastic message loss produces low overhead. This is the first convergence proof of an FU-based algorithm. We evaluate MDFU experimentally, comparing it with previous MD and FU protocols, and verifying the behavior predicted by the analysis. Finally, given that MDFU incurs a fixed deviation proportional to the message-loss rate, we adjust the accuracy of MDFU heuristically in a new protocol called MDFU with Linear Prediction (MDFU-LP). The evaluation shows that both MDFU and MDFU-LP behave very well in practice, even under high rates of message loss and even changing the input values dynamically.Comment: 18 pages, 5 figures, To appear in OPODIS 201

Rendezvous on a Line by Location-Aware Robots Despite the Presence of Byzantine Faults

A set of mobile robots is placed at points of an infinite line. The robots are equipped with GPS devices and they may communicate their positions on the line to a central authority. The collection contains an unknown subset of "spies", i.e., byzantine robots, which are indistinguishable from the non-faulty ones. The set of the non-faulty robots need to rendezvous in the shortest possible time in order to perform some task, while the byzantine robots may try to delay their rendezvous for as long as possible. The problem facing a central authority is to determine trajectories for all robots so as to minimize the time until the non-faulty robots have rendezvoused. The trajectories must be determined without knowledge of which robots are faulty. Our goal is to minimize the competitive ratio between the time required to achieve the first rendezvous of the non-faulty robots and the time required for such a rendezvous to occur under the assumption that the faulty robots are known at the start. We provide a bounded competitive ratio algorithm, where the central authority is informed only of the set of initial robot positions, without knowing which ones or how many of them are faulty. When an upper bound on the number of byzantine robots is known to the central authority, we provide algorithms with better competitive ratios. In some instances we are able to show these algorithms are optimal

Distributed Adaptive Attitude Synchronization of Multiple Spacecraft

This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a time-varying reference attitude is assigned. The first controller achieves attitude synchronization for a group of spacecraft with a leaderless communication topology having a directed spanning tree. The second controller guarantees that all spacecraft track the reference attitude if the virtual leader has a directed path to all other spacecraft. Simulation examples are presented to illustrate the effectiveness of the results.Comment: 13 pages, 11 figures. To appear in SCIENCE CHINA Technological Science

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Aggregating Centrality Rankings: A Novel Approach to Detect Critical Infrastructure Vulnerabilities

Assessing critical infrastructure vulnerabilities is paramount to arrange efficient plans for their protection. Critical infrastructures are network-based systems hence, they are composed of nodes and edges. The literature shows that node criticality, which is the focus of this paper, can be addressed from different metric-based perspectives (e.g., degree, maximal flow, shortest path). However, each metric provides a specific insight while neglecting others. This paper attempts to overcome this pitfall through a methodology based on ranking aggregation. Specifically, we consider several numerical topological descriptors of the nodes’ importance (e.g., degree, betweenness, closeness, etc.) and we convert such descriptors into ratio matrices; then, we extend the Analytic Hierarchy Process problem to the case of multiple ratio matrices and we resort to a Logarithmic Least Squares formulation to identify an aggregated metric that represents a good tradeoff among the different topological descriptors. The procedure is validated considering the Central London Tube network as a case study

Distributed model predictive control of linear systems with coupled constraints based on collective neurodynamic optimization

© Springer Nature Switzerland AG 2018. Distributed model predictive control explores an array of local predictive controllers that synthesize the control of subsystems independently yet they communicate to efficiently cooperate in achieving the closed-loop control performance. Distributed model predictive control problems naturally result in sequential distributed optimization problems that require real-time solution. This paper presents a collective neurodynamic approach to design and implement the distributed model predictive control of linear systems in the presence of globally coupled constraints. For each subsystem, a neurodynamic model minimizes its cost function using local information only. According to the communication topology of the network, neurodynamic models share information to their neighbours to reach consensus on the optimal control actions to be carried out. The collective neurodynamic models are proven to guarantee the global optimality of the model predictive control system