Distributed averaging with linear objective maps

DOI10.1016/J.AUTOMATICA.2016.03.023MaRDI QIDQ290860zbMATHOpenAlexFDO

Authors Xudong Chen, Mohamed-Ali Belabbas, Tamer Başar

Publication date 3 June 2016

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1502.01074

zbMATH Keywords

multi-agent systemsnetworked control systemsdecentralized systemsdistributed averaging

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Applications of graph theory to circuits and networks (94C15)

Abstract: A consensus system is a linear multi-agent system in which agents communicate to reach a so-called consensus state, defined as the average of the initial states of the agents. Consider a more generalized situation in which each agent is given a positive weight and the consensus state is defined as the weighted average of the initial conditions. We characterize in this paper the weighted averages that can be evaluated in a decentralized way by agents communicating over a directed graph. Specifically, we introduce a linear function, called the objective map, that defines the desired final state as a function of the initial states of the agents. We then provide a complete answer to the question of whether there is a decentralized consensus dynamics over a given digraph which converges to the final state specified by an objective map. In particular, we characterize not only the set of objective maps that are feasible for a given digraph, but also the consensus dynamics that implements the objective map. In addition, we present a decentralized algorithm to design the consensus dynamics.

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Cited in

(10)

• Distributed average consensus in digraphs
• Relative tempo of distributed averaging on networks
• Invariant properties of linear-iterative distributed averaging algorithms and application to error detection
• Distributed average consensus with least-mean-square deviation
• Optimal distributed linear averaging
• Distributed Averaging Via Lifted Markov Chains
• Fast linear iterations for distributed averaging
• Gossip over holonomic graphs
• Notes on averaging over acyclic digraphs and discrete coverage control
• Distributed average computation for multiple time-varying signals with output measurements

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