Non-oscillating quantized average consensus over dynamic directed topologies

DOI10.1016/J.AUTOMATICA.2022.110621zbMATH Open1504.93352arXiv2103.05172OpenAlexW4302023762MaRDI QIDQ2097776FDOQ2097776

Authors: Apostolos I. Rikos, Christoforos N. Hadjicostis, Karl Henrik Johansson 

Publication date: 14 November 2022

Published in: Automatica (Search for Journal in Brave)

Abstract: In this paper we study the distributed average consensus problem in multi-agent systems with directed communication links that are subject to quantized information flow. Specifically, we present and analyze a distributed averaging algorithm which operates exclusively with quantized values (i.e., the information stored, processed and exchanged between neighboring agents is subject to deterministic uniform quantization) and relies on event-driven updates (e.g., to reduce energy consumption, communication bandwidth, network congestion, and/or processor usage). The main idea of the proposed algorithm is that each node (i) models its initial state as two quantized fractions which have numerators equal to the node's initial state and denominators equal to one, and (ii) transmits one fraction randomly while it keeps the other stored. Then, every time it receives one or more fractions, it averages their numerators with the numerator of the fraction it stored, and then transmits them to randomly selected out-neighbors. We characterize the properties of the proposed distributed algorithm and show that its execution, on any static and strongly connected digraph, allows each agent to reach in finite time a fixed state that is equal (within one quantisation level) to the average of the initial states. We extend the operation of the algorithm to achieve finite-time convergence in the presence of a dynamic directed communication topology subject to some connectivity conditions. Finally, we provide examples to illustrate the operation, performance, and potential advantages of the proposed algorithm. We compare against state-of-the-art quantized average consensus algorithms and show that our algorithm's convergence speed significantly outperforms most existing protocols.

Full work available at URL: https://arxiv.org/abs/2103.05172

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zbMATH Keywords

digraphsdistributed algorithmsmulti-agent systemsquantizationevent-triggeredquantized average consensus

Mathematics Subject Classification ID

Distributed algorithms (68W15) Discrete event control/observation systems (93C65) Multi-agent systems (93A16) Consensus (93D50)

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Cited In (5)

• Distributed average consensus via gossip algorithm with real-valued and quantized data for \(0<q<1\)
• The bottleneck and ceiling effects in quantized tracking control of heterogeneous multi-agent systems under DoS attacks
• Dynamic average consensus via nonlinear protocols
• Distributed dynamic consensus under quantized communication data
• Finite time quantized average consensus with transmission stopping guarantees and no quantization error

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