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Consensus and cooperation in networked multiagent systems
 PROCEEDINGS OF THE IEEE
"... This paper provides a theoretical framework for analysis of consensus algorithms for multiagent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, timedelays, and performance guarantees. An overview of ..."
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Cited by 772 (2 self)
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This paper provides a theoretical framework for analysis of consensus algorithms for multiagent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, timedelays, and performance guarantees. An overview of basic concepts of information consensus in networks and methods of convergence and performance analysis for the algorithms are provided. Our analysis framework is based on tools from matrix theory, algebraic graph theory, and control theory. We discuss the connections between consensus problems in networked dynamic systems and diverse applications including synchronization of coupled oscillators, flocking, formation control, fast consensus in smallworld networks, Markov processes and gossipbased algorithms, load balancing in networks, rendezvous in space, distributed sensor fusion in sensor networks, and belief propagation. We establish direct connections between spectral and structural properties of complex networks and the speed of information diffusion of consensus algorithms. A brief introduction is provided on networked systems with nonlocal information flow that are considerably faster than distributed systems with latticetype nearest neighbor interactions. Simulation results are presented that demonstrate the role of smallworld effects on the speed of consensus algorithms and cooperative control of multivehicle formations.
Coverage Control for Mobile Sensing Networks
, 2002
"... This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functio ..."
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Cited by 572 (47 self)
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This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closedloop behavior is adaptive, distributed, asynchronous, and verifiably correct.
Randomized Gossip Algorithms
 IEEE TRANSACTIONS ON INFORMATION THEORY
, 2006
"... Motivated by applications to sensor, peertopeer, and ad hoc networks, we study distributed algorithms, also known as gossip algorithms, for exchanging information and for computing in an arbitrarily connected network of nodes. The topology of such networks changes continuously as new nodes join a ..."
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Cited by 522 (5 self)
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Motivated by applications to sensor, peertopeer, and ad hoc networks, we study distributed algorithms, also known as gossip algorithms, for exchanging information and for computing in an arbitrarily connected network of nodes. The topology of such networks changes continuously as new nodes join and old nodes leave the network. Algorithms for such networks need to be robust against changes in topology. Additionally, nodes in sensor networks operate under limited computational, communication, and energy resources. These constraints have motivated the design of “gossip ” algorithms: schemes which distribute the computational burden and in which a node communicates with a randomly chosen neighbor. We analyze the averaging problem under the gossip constraint for an arbitrary network graph, and find that the averaging time of a gossip algorithm depends on the second largest eigenvalue of a doubly stochastic matrix characterizing the algorithm. Designing the fastest gossip algorithm corresponds to minimizing this eigenvalue, which is a semidefinite program (SDP). In general, SDPs cannot be solved in a distributed fashion; however, exploiting problem structure, we propose a distributed subgradient method that solves the optimization problem over the network. The relation of averaging time to the second largest eigenvalue naturally relates it to the mixing time of a random walk with transition probabilities derived from the gossip algorithm. We use this connection to study the performance and scaling of gossip algorithms on two popular networks: Wireless Sensor Networks, which are modeled as Geometric Random Graphs, and the Internet graph under the socalled Preferential Connectivity (PC) model.
Fast Linear Iterations for Distributed Averaging
 Systems and Control Letters
, 2003
"... We consider the problem of finding a linear iteration that yields distributed averaging consensus over a network, i.e., that asymptotically computes the average of some initial values given at the nodes. When the iteration is assumed symmetric, the problem of finding the fastest converging linear ..."
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Cited by 429 (13 self)
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We consider the problem of finding a linear iteration that yields distributed averaging consensus over a network, i.e., that asymptotically computes the average of some initial values given at the nodes. When the iteration is assumed symmetric, the problem of finding the fastest converging linear iteration can be cast as a semidefinite program, and therefore efficiently and globally solved. These optimal linear iterations are often substantially faster than several common heuristics that are based on the Laplacian of the associated graph.
Consensus Seeking in Multiagent Systems under Dynamically Changing Interaction Topologies
, 2003
"... This note considers the problem of information consensus among multiple agents in the presence of limited and unreliable information exchange with dynamically changing interaction topologies. Both discrete and continuous update schemes are proposed for information consensus. The note shows that i ..."
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Cited by 410 (34 self)
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This note considers the problem of information consensus among multiple agents in the presence of limited and unreliable information exchange with dynamically changing interaction topologies. Both discrete and continuous update schemes are proposed for information consensus. The note shows that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs across some time intervals has a spanning tree frequently enough as the system evolves. Simulation results show the effectiveness of our update schemes.
A scheme for robust distributed sensor fusion based on average consensus
 PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON INFORMATION PROCESSING IN SENSOR NETWORKS (IPSN
, 2005
"... We consider a network of distributed sensors, where each sensor takes a linear measurement of some unknown parameters, corrupted by independent Gaussian noises. We propose a simple distributed iterative scheme, based on distributed average consensus in the network, to compute the maximumlikelihoo ..."
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Cited by 250 (3 self)
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We consider a network of distributed sensors, where each sensor takes a linear measurement of some unknown parameters, corrupted by independent Gaussian noises. We propose a simple distributed iterative scheme, based on distributed average consensus in the network, to compute the maximumlikelihood estimate of the parameters. This scheme doesn’t involve explicit pointtopoint message passing or routing; instead, it diffuses information across the network by updating each node’s data with a weighted average of its neighbors ’ data (they maintain the same data structure). At each step, every node can compute a local weighted leastsquares estimate, which converges to the global maximumlikelihood solution. This scheme is robust to unreliable communication links. We show that it works in a network with dynamically changing topology, provided that the infinitely occurring communication graphs are jointly connected.
Distributed Subgradient Methods for Multiagent Optimization
, 2007
"... We study a distributed computation model for optimizing a sum of convex objective functions corresponding to multiple agents. For solving this (not necessarily smooth) optimization problem, we consider a subgradient method that is distributed among the agents. The method involves every agent minimiz ..."
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Cited by 234 (24 self)
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We study a distributed computation model for optimizing a sum of convex objective functions corresponding to multiple agents. For solving this (not necessarily smooth) optimization problem, we consider a subgradient method that is distributed among the agents. The method involves every agent minimizing his/her own objective function while exchanging information locally with other agents in the network over a timevarying topology. We provide convergence results and convergence rate estimates for the subgradient method. Our convergence rate results explicitly characterize the tradeoff between a desired accuracy of the generated approximate optimal solutions and the number of iterations needed to achieve the accuracy.
Convergence in multiagent coordination, consensus, and flocking
 IN PROCEEDINGS OF THE JOINT 44TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE
, 2005
"... We discuss an old distributed algorithm for reaching consensus that has received a fair amount of recent attention. In this algorithm, a number of agents exchange their values asynchronously and form weighted averages with (possibly outdated) values possessed by their neighbors. We overview existing ..."
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Cited by 233 (18 self)
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We discuss an old distributed algorithm for reaching consensus that has received a fair amount of recent attention. In this algorithm, a number of agents exchange their values asynchronously and form weighted averages with (possibly outdated) values possessed by their neighbors. We overview existing convergence results, and establish some new ones, for the case of unbounded intercommunication intervals.
Information Consensus in Multivehicle Cooperative Control
, 2007
"... The abundance of embedded computational resources in autonomous vehicles enables enhanced operational effectiveness through cooperative teamwork in civilian and military applications. Compared to autonomous vehicles that perform solo missions, greater efficiency and operational capability can be rea ..."
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Cited by 228 (23 self)
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The abundance of embedded computational resources in autonomous vehicles enables enhanced operational effectiveness through cooperative teamwork in civilian and military applications. Compared to autonomous vehicles that perform solo missions, greater efficiency and operational capability can be realized from teams of autonomous vehicles operating in a coordinated fashion. Potential applications for multivehicle systems include spacebased interferometers, combat, surveillance, and reconnaissance systems, hazardous material handling, and distributed reconfigurable sensor networks. To enable these applications, various cooperative control capabilities need to be developed, including formation control, rendezvous, attitude alignment, flocking, foraging, task and role assign
2004a). Robust rendezvous for mobile autonomous agents via proximity graphs in d dimensions
 IEEE Transactions on Automatic Control. Submitted. Electronic
"... Abstract: This paper presents coordination algorithms for networks of mobile autonomous agents. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network. We provide analysis and design results for multiagent networks in arb ..."
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Cited by 202 (22 self)
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Abstract: This paper presents coordination algorithms for networks of mobile autonomous agents. The objective of the proposed algorithms is to achieve rendezvous, that is, agreement over the location of the agents in the network. We provide analysis and design results for multiagent networks in arbitrary dimensions under weak requirements on the switching and failing communication topology. The correctness proof relies on proximity graphs and their properties and on a LaSalle Invariance Principle for nondeterministic discretetime systems. Copyright c ○ 2005 IFAC