k-Dimensional Agreement in Multiagent Systems
Given a network of agents, we study the problem of designing a distributed algorithm that computes <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula> independent weighted means of the network's initial conditions (namely, the agents agree...
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| Veröffentlicht in: | IEEE transactions on automatic control Jg. 69; H. 12; S. 8978 - 8985 |
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| Sprache: | Englisch |
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01.12.2024
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| ISSN: | 0018-9286, 1558-2523 |
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| Abstract | Given a network of agents, we study the problem of designing a distributed algorithm that computes <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula> independent weighted means of the network's initial conditions (namely, the agents agree on a <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula>-dimensional space). Akin to average consensus, this problem finds applications in distributed computing and sensing, where agents seek to simultaneously evaluate <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula> independent functions at a common point by running a single coordination algorithm. We show that linear algorithms can agree on quantities that are oblique projections of the vector of initial conditions, and we provide techniques to design protocols that are compatible with a pre-specified communication graph. More broadly, our results show that a single agreement algorithm can solve <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula> consensus problems simultaneously at a fraction of the complexity of classical approaches but, in general, it requires higher network connectivity. |
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| AbstractList | Given a network of agents, we study the problem of designing a distributed algorithm that computes <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula> independent weighted means of the network's initial conditions (namely, the agents agree on a <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula>-dimensional space). Akin to average consensus, this problem finds applications in distributed computing and sensing, where agents seek to simultaneously evaluate <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula> independent functions at a common point by running a single coordination algorithm. We show that linear algorithms can agree on quantities that are oblique projections of the vector of initial conditions, and we provide techniques to design protocols that are compatible with a pre-specified communication graph. More broadly, our results show that a single agreement algorithm can solve <inline-formula><tex-math notation="LaTeX">k</tex-math></inline-formula> consensus problems simultaneously at a fraction of the complexity of classical approaches but, in general, it requires higher network connectivity. |
| Author | Cortes, Jorge Vaquero, Miguel Dall'Anese, Emiliano Bianchin, Gianluca |
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| SubjectTerms | Computational modeling Consensus algorithm Consensus algorithms decentralized control graph theory linear time-invariant (LTI) systems Multi-agent systems Protocols Robot sensing systems Sensors Vectors |
| Title | k-Dimensional Agreement in Multiagent Systems |
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