We consider a stochastic model for distributed average consensus, which arises in applications such as load balancing for parallel processors, distributed coordination of mobile autonomous agents, and network synchronization. In this model, each node updates its local variable with a weighted average of its neighbors’ values, and each new value is corrupted by an additive noise with zero mean. ...

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We study the continuous-time consensus problem where nodes on a graph attempt to reach average consensus. We consider communication graphs that can be decomposed into a hierarchical structure and present a consensus scheme that exploits this hierarchical topology. The scheme consists of splitting the overall graph into layers of smaller connected subgraphs. Consensus is performed within the ind...

We study strategies that minimize the instability of a faulttolerant consensus system. More precisely, we find the strategy than minimizes the number of output changes over a random walk sequence of input vectors (where each component of the vector corresponds to a particular sensor reading). We analyze the case where each sensor can read three possible inputs. The proof of this result appears ...

A novel control strategy for multi-agent coordination with event-based broadcasting is presented. In particular, each agent decides itself when to transmit its current state to its neighbors and the local control laws are based on these sampled state measurements. Three scenarios are analyzed: Networks of singleintegrator agents with and without communication delays, and networks of double-inte...

This paper is concerned with average-consensus control under directed topologies and random measurement noises. To attenuate the measurement noises, time-varying consensus gains are introduced in the protocol. It is shown that under the protocol designed, all agents’ states converge to a common Gaussian random variable, whose mathematical expectation is just the average of the initial states, a...

This paper introduces a novel continuous-time dynamic average consensus algorithm for networks whose interaction is described by a strongly connected and weight-balanced directed graph. The proposed distributed algorithm allows agents to track the average of their dynamic inputs with some steady-state error whose size can be controlled using a design parameter. This steady-state error vanishes ...

Average consensus is a canonical problem in wireless sensor networks. Wireless communication channels exhibit stochastic data loss due to multiple reasons including fading and interference. This note considers average consensus algorithms executed over communication topologies that vary probabilistically due to such effects. It is known that even in this case the state values will reach consens...

In this paper we consider repeated coalitional games with transferable utilities (TU) over networks. Namely, we consider a set of n players that have to distribute among themselves a vector of rewards (one for each player). In our network version there is no coordinator allocating the rewards, but the agents have to agree on a common time-averaged vector by updating the local estimates of the r...

In this paper, we are interested in the finite-time average consensus problem for multi-agent systems or wireless sensor networks. This issue is formulated in a discrete-time framework by utilizing a linear iteration scheme, where each node repeatedly updates its value as a weighted linear combination of its own value and those of its neighbors. Unlike most of research in literature, this work ...