The consensus problem in distributed systems is mainly solved by message exchange. Most of previous consensus algorithms rely on exchange of oral messages to achieve consensus among processors. As oral messages are susceptible to influences from malicious attackers, this type of consensus protocols usually requires a large number of rounds of message exchange, and the complexity of message exch...

According to conjugate gradient algorithm, a new consensus protocol algorithm of discrete-time multi-agent systems is presented, which can achieve finite-time consensus. Finally, a numerical example is given to illustrate our theoretical result. Keywords—Consensus protocols; Graph theory; Multi-agent systems; Conjugate gradient algorithm; Finite-time.

This article proposes and analyses distributed, leaderless, model-independent consensus algorithms for networked Euler–Lagrange systems. We propose a fundamental consensus algorithm, a consensus algorithm accounting for actuator saturation, and a consensus algorithm accounting for unavailability of measurements of generalised coordinate derivatives, for systems modelled by Euler–Lagrange equati...

We study the problem of reaching a consensus in the estimates of multiple agents forming a network with time-varying connectivity. Our main focus is on constrained consensus problems where the estimate of each agent is constrained to lie in a different closed convex constraint set. We consider a distributed “projected consensus algorithm” in which the local averaging operation is combined with ...

Motivated by the distributed binary consensus algorithm in Perron et al. [(2009) UsingThree States for Binary Consensus on Complete Graphs. INFOCOM 2009, IEEE, April, pp. 2527–2535], we propose a distributed algorithm for the multivalued consensus problem. In the multivalued consensus problem, each node initially chooses from one of k available choices and the objective of all nodes is to find ...

This paper presents a modular introduction to crash-tolerant and Byzantine-tolerant protocols for reaching consensus that use the method introduced by the Paxos algorithm of Lamport and by the viewstamped replication algorithm of Oki and Liskov. The consensus protocol runs a sequence of epoch abstractions as governed by an epoch-change abstraction. Implementations of epoch and epoch-change that...

In this brief we propose a distributed δ-consensus protocol in directed networks of dynamic agents having communication delays. We provide convergence analysis for such consensus algorithm under stochastic switching communication graphs, and then present some generic criteria for solving the average consensus problem. We also show that directed delayed networks of dynamic agents can achieve ave...

In this paper, we study the consensus problem in multi-vehicle systems, where the information states of all vehicles approach a time-varying reference state under the condition that only a portion of the vehicles (e.g., the unique team leader) have access to the reference state and the portion of the vehicles might not have a directed path to all of the other vehicles in the team. We first anal...

We consider the decentralized consensus problem over random information networks. In such networks, the underlying graph of the network at a given time instance is random but independent of all other times. For such a framework, we present a simple necessary and sufficient criteria for asymptotic consensus using simple ergodicity and probabilistic arguments. Finally, we investigate a special ca...

We present a Consensus algorithm that combines randomization and unreliable failure detection, two well-known techniques for solving Consensus in asynchronous systems with crash failures. This hybrid algorithm combines advantages from both approaches: it guarantees deterministic termination if the failure detector is accurate, and probabilistic termination otherwise. In executions with no failu...