In this article, a method for the agreement of a set of robots on a common reference orientation based on a distributed consensus algorithm is described. It only needs that robots detect the relative positions of their neighbors and communicate with them. Two different consensus algorithms based on the exchange of information are proposed, tested and analyzed. Systematic experiments were carrie...

The consensus string problem is finding a representative string (consensus) of a given set S of strings. In this paper we deal with the consensus string problems optimizing both distance sum and radius, where the distance sum is the sum of (Hamming) distances from the strings in S to the consensus and the radius is the longest (Hamming) distance from the strings in S to the consensus. Although ...

Due to their nature, distributed systems are vulnerable to failures of some of their parts. Conversely, distribution also provides a way to increase the fault tolerance of the overall system. However, achieving fault tolerance is not a simple problem and requires complex techniques. An agreement problem known as the problem of consensus is at the heart of most problems encountered during the de...

In this work we study the performance of asymptotic and approximate consensus algorithms in dynamic networks. The asymptotic consensus problem requires a set of agents to repeatedly set their outputs such that the outputs converge to a common value within the convex hull of initial values. This problem, and the related approximate consensus problem, are fundamental building blocks in distribute...

Microgrids (MGs) in which power generation and consumption occur locally have gained prominence, and MG demonstration tests have been widely carried out. In accordance with the increase in the number of MG installations, studies regarding the cooperative control of multiple MGs are proceeding in various forms. In this paper, the distributed control strategy of a multi-microgrid (MMG) is propose...

We derive a 3f +1 process Byzantine Paxos consensus algorithm by Byzantizing a variant of the ordinary Paxos algorithm—that is, by having 2f + 1 nonfaulty processes emulate the ordinary Paxos algorithm despite the presence of f malicious processes. We have written a formal, machine-checked proof that the Byzantized algorithm implements the ordinary Paxos consensus algorithm under a suitable ref...

Formation control of multi-vehicle system has been studied as a combination of estimation problem and tracking problem. Virtual structure based formation control strategy is applied which solves the problem of formation maintenance and movement using a control architecture in hierarchical manner. The control architecture is distributed in nature and requires only local neighbor to neighbor comm...

This paper introduces the specification of abortable consensus in message passing systems with prob-abilistic message delivery behaviors to address the tradeoff between progress and agreement in asyn-chronous consensus. The paper presents an abortable consensus algorithm, proves its correctness, andshows how to configure the parameters of the algorithm to satisfy the explicit re...

This paper presents a distributed consensus-based approach to solve the economic dispatch problem with power generator constraints and transmission losses. Buses and transmission lines in the power system are modeled as nodes and edges in a communication graph, respectively. Each node exchanges information with its neighbors and runs two consensus algorithms in parallel, without relying on a ce...

In this paper, we propose an approximate projected consensus algorithm for a network to cooperatively compute the intersection of convex sets. Instead of assuming the exact convex projection proposed in the literature, we allow each node to compute an approximate projection and communicate it to its neighbors. The communication graph is directed and time-varying. Nodes update their states by we...