Distributed Stopping Criterion for Consensus in the Presence of Delays

Mangal Prakash, Saurav Talukdar, Sandeep Attree, Vikas Yadav, murti v salapaka

Research output: Contribution to journalArticle

Abstract

Linear consensus protocol is an iterative distributed algorithm with asymptotic convergence guarantees. This article develops and analyzes an algorithm for agents running linear consensus iterations to detect convergence to consensus within a specified error tolerance in a distributed manner. The distributed stopping criterion allows for time-varying bounded delays in information transmission and reception between agents. The algorithm relies on distributively determining the maximum and minimum of values held by the agents. The article further develops an algorithm for average consensus which utilizes a distributive stopping criterion, based on maximum and mini- mum consensus, where no centralized coordination is needed on how each agent weights its neighbors values. Here, the doubly stochastic assumption on the weight matrix is relaxed and only column stochastic is needed. The effectiveness of the algorithms is demonstrated by simulations and comparison with prior work in literature. Moreover, the demonstration of the proposed algorithm on an experimental test bed of Raspberry-Pi agents communicating wirelessly validates its applicability and utility.

Original languageEnglish (US)
JournalIEEE Transactions on Control of Network Systems
DOIs
StatePublished - Jan 1 2019

Fingerprint

Stopping Criterion
Asymptotic Convergence
Distributed Algorithms
Pi
Parallel algorithms
Testbed
Iterative Algorithm
Tolerance
Time-varying
Demonstrations
Iteration
Network protocols
Simulation

Keywords

  • approximate consensus
  • average consensus with delays
  • Consensus with delays
  • Control systems
  • Convergence
  • Delays
  • Distributed algorithms
  • Iterative algorithms
  • maximum consensus
  • minimum consensus
  • Protocols
  • Standards

Cite this

Distributed Stopping Criterion for Consensus in the Presence of Delays. / Prakash, Mangal; Talukdar, Saurav; Attree, Sandeep; Yadav, Vikas; salapaka, murti v.

In: IEEE Transactions on Control of Network Systems, 01.01.2019.

Research output: Contribution to journalArticle

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