On the Influence of Noise in Randomized Consensus Algorithms

Abstract

In this paper we study the influence of additive noise in randomized consensus algorithms. Assuming that the update matrices are symmetric, we derive a closed form expression for the mean square error induced by the noise, together with upper and lower bounds that are simpler to evaluate. Motivated by the study of Open Multi-Agent Systems, we concentrate on Randomly Induced Discretized Laplacians, a family of update matrices that are generated by sampling subgraphs of a large undirected graph. For these matrices, we express the bounds by using the eigenvalues of the Laplacian matrix of the underlying graph or the graph's average effective resistance, thereby proving their tightness. Finally, we derive expressions for the bounds on some examples of graphs and numerically evaluate them.

A Sum-of-States Preservation Framework for Open Multiagent Systems With Nonlinear Heterogeneous Coupling

“…In [19], the authors propose an OMAS consensus process in which agents track the median of time-varying reference signals. Agent interactions over randomly induced discretized Laplacians are investigated in [20]. In [21] multidimensional switched systems are used to characterize an OMAS.…”