General resilient consensus algorithms

Ramos, Guilherme; Silvestre, Daniel; Silvestre, Carlos

doi:10.1080/00207179.2020.1861331

Cited by 25 publications

(9 citation statements)

References 50 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This additional property allows computing the lefteigenvector associated with the eigenvalue 1 of the dynamics matrix explicitly with linear-time complexity. We observe that we can increase the proposed methods robustness to attack using the general method proposed in [3].…”

Section: Discussionmentioning

confidence: 87%

“…Therefore, numerous systems have been developed to compute distributedly a function. The distributed function results from each agent computing a local function, using the neighbors' communicated information, and sharing the output with its neighbors, for instance, using consensus [1][2][3][4] or state retrieval [5]. Under the described setting, for security reasons, the agents may want to ensure that their information is not disclosed.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distributed design of deterministic discrete-time privacy preserving average consensus for multi-agent systems through network augmentation

Ramos¹,

Aguiar²,

Kar³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is that agents exchange and reveal their state information only to their neighbors. Yet, it can raise privacy concerns in situations where the agents' states contain sensitive information. In this paper, we propose a novel (noiseless) privacy preserving distributed algorithms for multi-agent systems to reach an average consensus. The main idea of the algorithms is that each agent runs a (small) network with a crafted structure and dynamics to form a network of networks (i.e., the connection between the newly created networks and their interconnections respecting the initial network connections). Together with a re-weighting of the dynamic parameters dictating the inter-agent dynamics and the initial states, we show that it is possible to ensure that the value of each node converges to the consensus value of the original network. Furthermore, we show that, under mild assumptions, it is possible to craft the dynamics such that the design can be achieved in a distributed fashion. Finally, we illustrate the proposed algorithm with examples.

show abstract

Section: Discussionmentioning

confidence: 87%

Section: Introductionmentioning

confidence: 99%

Distributed design of deterministic discrete-time privacy preserving average consensus for multi-agent systems through network augmentation

Ramos¹,

Aguiar²,

Kar³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…The controllability aspect of a dynamical system is dual to the observability of linear systems. 8 In particular, MAS emerge in a plethora of areas, such as mathematics, biology, physics, sociology, and engineering applications, [9][10][11][12][13][14] and can be often represented by a Linear Time-Invariant (LTI) or a Linear Parameter-Varying (LPV) system. The controllability of MAS having Laplacian dynamics was initially investigated by Tanner.…”

Section: Related Workmentioning

confidence: 99%

The robust minimal controllability and observability problem

Ramos

Silvestre

2021

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

In this paper, we study the Robust Minimal Controllability and Observability Problem (rMCOP). The scenario that motivated this question is related to the design of a drone formation to execute some task, where the decision of which nodes to equip with a more expensive communication system represents a critical economic choice. Given a linear time-invariant system for each of the vehicles, this problem consists of identifying a minimal subset of state variables to be actuated and measured, ensuring that the overall formation model is both controllable and observable while tolerating a prescribed level of inputs/outputs that can fail. Based on the tools in the available literature, a naive approach would consist of enumerating separately all possible minimal solutions for the controllability and observability parts. Then, iterating over all combinations to find the maximum intersection of sensors/actuators in the independent solutions, yielding a combinatorial problem. The presented solution couples the design of both controllability and observability parts through a polynomial reformulation as a minimum set multi-covering problem under some mild assumptions. In this format, the algorithm has the following interesting attributes: (i) only requires the solution of a single covering problem; 9ii) using polynomial approximations algorithms, one can obtain close-to-optimal solutions to the rMCOP. K E Y W O R D Scontrol applications, control design, minimal controllability and observability problem, robustness INTRODUCTIONConsidering a Multi-Agent System (MAS) composed of vehicles interconnected by a communication network is a recurrent proposal for surveillance, exploration, and measuring tasks to be accomplished by unmanned and automatic robotic systems. Missions entailing the use of a large number of such vehicles can adopt a leader/followers approach 12 characterized by having: (i) expensive nodes (leaders) that can communicate with a ground station to receive mission commands and that might be equipped with sophisticated sensors or localization equipment: (ii) cheaper drones (followers) implementing local controllers based on onboard sensors that measure relative localization and receive a small amount of data from the leaders. In this scenario shown in Figure 1, a critical task is to minimize the number of leaders for economic reasons without compromising the controllability and observability of the overall system. In distributed environments, we should ensure these two critical properties. 3,4 We will refer to this challenge as the Minimal Controllability and Observability Problem (MCOP).

show abstract

“…Autonomy is at the heart of automation of increasingly largescale dynamical systems such as chemical processes, smart grid, smart cities, cyber-physical systems, multi-agent systems, and the Internet of Things (IoT) [1][2][3][4][5]. To address the inherent problem of restricted communications and spatially distributed sensors and actuators associated with these systems, decentralized control is often the setting used to perform their design [6].…”

Section: Introductionmentioning

confidence: 99%

Structurally quotient fixed modes

Ramos

Aguiar

Pequito

2021

Systems & Control Letters

Self Cite

View full text Add to dashboard Cite

We provide a necessary and sufficient graph-theoretical characterization of quotient fixes modes occurring in parametric decentralized control systems. Specifically, we introduce the notion of structurally quotient fixed modes (SQFMs) that generically captures the quotient fixed modes and only depends on the system's structure. Additionally, we provide an efficient polynomial-time algorithm for the verification of this graph-theoretical condition. We show that this algorithm can be parallelized, and linear-time computational complexity approximation algorithms can be considered to attain a sub-optimal solution. Lastly, we discuss the implications of the actuation-sensing-communication capabilities and the systems' interconnections on the existence of SQFM.

show abstract

General resilient consensus algorithms

Cited by 25 publications

References 50 publications

Distributed design of deterministic discrete-time privacy preserving average consensus for multi-agent systems through network augmentation

Distributed design of deterministic discrete-time privacy preserving average consensus for multi-agent systems through network augmentation

The robust minimal controllability and observability problem

Structurally quotient fixed modes

Contact Info

Product

Resources

About