From Matrix-Weighted Consensus to Multipartite Average Consensus

Kwon, Seong-Ho; Bae, Yoo-Bin; Liu, Ji; Ahn, Hyo‐Sung

doi:10.1109/tcns.2020.2988223

Cited by 10 publications

(3 citation statements)

References 31 publications

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“…Aiming at the binary consistency problem of multi-agent system with time-varying time delay, a corresponding consistency protocol is designed in [5].Sun studied the stability of networked control systems with bounded packet loss in [6].Xu et al studied the mean-square consensus protocol of discrete-time linear multi-agent systems on simulated fading networks using directed graphs in [7].Luo studied the consensus protocol for heterogeneous multi-agent systems subject to time-varying communication delays and random noises in [8]. A consensus protocol for multi-agent systems on signed undirected networks is studied in [9].In [10],the event-triggered output consensus problem is studied over heterogeneous multi-agent systems with nonuniform communication delays.In [11],the mean-square consensus protocol of discrete-time linear multi-agent systems is studied over directed networks with constant communication delay and packet dropouts.…”

Section: Introductionmentioning

confidence: 99%

Consensus protocol in heterogeneous opportunistic networks

Chen,

Yan,

Lei

2023

Second International Conference on Electronic Information Technology (EIT 2023)

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The consensus protocol in heterogeneous opportunistic networks has a wide range of applications in handheld device networking, vehicle networking, and formation control.At present, most of the distributed consensus algorithms are ideally modeled and consider a single factor,But in real life, heterogeneous opportunistic networks need to consider more complex factors, such as node dynamics, delay and packet loss generated by node information transmission process, and deviation caused by the unbalanced nature of the network topology.Aiming at the heterogeneity of heterogeneous opportunistic networks, we propose a quantized caching mechanism, which solves the consensus problem of heterogeneous opportunistic networks .And the optimal number of cache blocks of each node is obtained, which makes the convergence speed reach the fastest .Our main contribution is to provide the basic theory of consensus protocols for heterogeneous opportunity networks,and prove the correctness of the theory through experiments.

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Section: Introductionmentioning

confidence: 99%

Consensus protocol in heterogeneous opportunistic networks

Chen,

Yan,

Lei

2023

Second International Conference on Electronic Information Technology (EIT 2023)

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show abstract

“…In this context, each node receives at most a single measurement per time step. The most common methods on the point object tracking include average consensus 6,7 and diffusion scheme. 8,9 These techniques use the consensus or diffusion steps to provide a consensus estimate within the entire network.…”

Section: Introductionmentioning

confidence: 99%

Distributed extended object tracking information filter over sensor networks

Liang

et al. 2022

Intl J Robust & Nonlinear

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This work aims to design a distributed extended object tracking system over a realistic network, where both the extent and kinematics are required to retain consensus within the entire network. To this end, we resort to the multiplicative error model (MEM) that allows the extent parameters of perpendicular axis‐symmetric objects to have individual uncertainty. To incorporate the MEM into the information filter (IF) style, we use the moment‐matching technique to derive two pair linear models with only additive noise. The separation is merely in a fashion, and the cross‐correlation between states is preserved as parameters in each other's model. As a result, the closed‐form expressions are transferred into an alternating iteration of two linear IFs. With the two models, a centralized IF is proposed wherein the measurements are converted into a summation of innovation parts. Later, under a sensor network with the communication nodes and sensor nodes, we present two distributed IFs through the consensus on information and consensus on measurement schemes, respectively. Moreover, we prove the estimation errors of the proposed filter are exponentially bounded in the mean square. The benefits are testified by numerical experiments in comparison to state‐of‐the‐art filters in literature.

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“…As a consequence, up to now, a large quantity of coordinated control protocols (or algorithms) have been presented and all kinds of cooperative motions, like consensus 3 , synchronization 4 , tracking 5 , cluster 6 , flocking 7 , formation 8 – 11 , have been investigated. It should be noted that the above-mentioned works were mainly focused on the scalar-weighted interactions among agents, which is not applicable in some practical scenarios, especially when interdependencies among high-dimensional states of neighboring agents are discussed 12 , 13 . For example, as we all know, the exchanges of opinions between people are always sophisticated, in particular, when multiple relevant topics are considered.…”

Section: Introductionmentioning

confidence: 99%

Coordinated motions of multiple robotic manipulators with matrix-weighted network

Liu

Ren

Wang

2022

Sci Rep

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This paper addresses coordinated problem of uncertain robotic manipulators with matrix-weighted network. Given interconnections between agents are weighted by nonnegative definite matrices, we present a sufficient and necessary condition about zero eigenvalues of matrix-weighted Laplacian and types of coordinated behaviors for multiple agents. Based on the condition, two novel control schemes are proposed for the networked robots by introducing matrix-weighted network. We employ the decomposition approach and Lyapunov-like approach to show coordinated motions of the networked system, and demonstrate that the proposed controls are capable of ensuring the robotic agents reach complete/cluster consensus and complete/cluster synchronization. Finally, some numerical examples and simulations demonstrate the obtained theoretical results.

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From Matrix-Weighted Consensus to Multipartite Average Consensus

Cited by 10 publications

References 31 publications

Consensus protocol in heterogeneous opportunistic networks

Consensus protocol in heterogeneous opportunistic networks

Distributed extended object tracking information filter over sensor networks

Coordinated motions of multiple robotic manipulators with matrix-weighted network

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