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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Dimitri Lefebvre Isabel Demongodin Rabah Ammour Sara Hsaini Moulay El Hassan Charaf University Le Havre Normandy GREAH Laboratory Le Havre France Aix Marseille University CNRS LIS Marseille France Ibn Tofail University Kenitra Morocco

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This paper introduces a distributed Multi-Robot Task Allocation (MRTA) approach where each robot can autonomously decide the set of tasks it performs and determine the sequence of sites to visit while optimizing the traveling costs. During the distributed task allocation process, conflicts may arise when multiple robots are able to perform identical tasks. To address this issue, we present a consensus algorithm that combines negotiation and optimization phases. The algorithm allows each robot to decide whether to add or remove conflicting tasks based on information exchanged within the team of robots. Subsequently, we discuss the contribution through a numerical experimentation that compares ascending and descending strategies and compare the performance with a centralized optimization approach.

关键词： Costs Navigation consensus algorithm Planning Resource management Information technology Energy management Collision avoidance Robots Optimization

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FAITHFUL GLOBAL CONVERGENCE FOR THE RESCALED consensus–BASED OPTIMIZATION

arXiv

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arXiv 2025年

作者： Huang, Hui Kouhkouh, Hicham Sun, Lukang University of Graz Department of Mathematics and Scientific Computing NAWI Graz Austria Technical University of Munich School of Computation Information and Technology Department of Mathematics Munich Germany

We analyze the consensus-Based Optimization (CBO) algorithm with a consensus point rescaled by a small fixed parameter κ ∈ (0, 1). Under minimal assumptions on the objective function and the initial data, we establish its unconditional convergence to the global minimizer. Our results hold in the asymptotic regime where both the time–horizon t → ∞ and the inverse–temperature α → ∞, providing a rigorous theoretical foundation for the algorithm’s global convergence. Furthermore, our findings extend to the case of multiple and non–discrete set of minimizers. © 2025, CC BY.

关键词： consensus algorithm

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A Simulation-Based Comparison of Raft, PBFT, and PoA consensus for Private Blockchain in Archipelagic Networks with Varying Delays Using NS3

A Simulation-Based Comparison of Raft, PBFT, and PoA Consens...

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International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)

作者： Almuchlisin Almuchlisin Andi Faridz Fakhriza Fanny Eka Putri Riri Fitri Sari Department of Electrical Engineering Faculty of Engineering University of Indonesia Depok Indonesia

ISBN: (数字)9798331519643

ISBN: (纸本)9798331519650

Deploying private blockchain in archipelagic regions poses significant challenges due to network delays caused by geographic dispersion. This study evaluates the performance of three consensus mechanisms—Raft, Practical Byzantine Fault Tolerance (PBFT), and Proof of Authority (PoA)—to determine the most suitable for such environments. Using Network Simulator 3 (NS3), we simulate network scenarios with both fixed delay (5 ms) and varying delays (1 ms to 100 ms), alongside different node counts, block message sizes, transaction speeds, and transaction sizes. Key performance indicators such as consensus time and throughput are analyzed. The results show that Raft performs optimally under low-latency, stable conditions, whereas PBFT delivers the lowest consensus times but experiences performance degradation in environments with variable delays. PoA demonstrates the highest adaptability, excelling in highlatency conditions with consistent *** is also observed that uniform (same) delay performs better than varying delay across all consensus mechanisms, and that block message size significantly impacts performance more than transaction time. This research provides insights into selecting the optimal consensus protocol for private blockchain deployment in archipelagic infrastructures with diverse network conditions.

关键词： Seminars Sensitivity Network topology Simulation Scalability consensus algorithm Throughput Delays consensus protocol Low latency communication

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Optimal consensus for High-Order Integrator Agents

Optimal Consensus for High-Order Integrator Agents

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IEEE Conference on Decision and Control

作者： Pedro Trindade Rita Cunha Pedro Batista Institute for Systems and Robotics LARSyS Instituto Superior Técnico Universidade de Lisboa Portugal

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper focuses on the optimal design of a highorder consensus protocol applied to agents modeled with multiple integrators. Concretely, the problem addressed amounts to determining the optimal values for the coupling gains and for the weights of the directed graph edges, considering a given communication topology. An LQR-based cost function is proposed, which is obtained from the typical LQR cost function by taking the expectation over the initial system state, and a second-order method is then applied to determine the optimal parameters for the high-order consensus protocol. To that end, the evaluation of the cost and its derivatives is first described, to account for the particularities of the consensus problem, and the application of a truncated Newton method to the considered problem is then presented. Finally, the efficacy of the proposed approach is illustrated with examples.

关键词： Couplings Laplace equations Costs Directed graphs consensus algorithm Cost function consensus protocol Topology Delays Newton method

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A Review of Research on Blockchain consensus Mechanisms and algorithms

A Review of Research on Blockchain Consensus Mechanisms and ...

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International Symposium on Environmentally Conscious Design and Inverse Manufacturing (EcoDesign)

作者： Xiangnan Liu Wanjun Yu Shanghai Institute of Technology Shanghai China

ISBN: (数字)9798350363043

ISBN: (纸本)9798350363050

Blockchain technology is a distributed ledger technology whose core mechanism is the consensus mechanism. consensus mechanism refers to the method of reaching agreement through collaboration and competition among participants in a distributed network. And the algorithm is the specific steps and rules to realize the consensus mechanism. This paper reviews and studies the blockchain consensus mechanism and algorithm. It begins by introducing the development background and application scenarios of blockchain technology. Blockchain technology has gained attention due to the rise of digital currencies and has been widely used in industries such as finance and IoT. Next, we elaborate on some common blockchain consensus mechanisms. Currently, there are several consensus mechanisms, including Proof of Work, Proof of Stake, and Delegated Proof of Stake. Each method has unique characteristics, so it is crucial to choose the most suitable one based on the usage environment. Next, the research progress of blockchain consensus algorithms is discussed. Along with the rapid progress of blockchain technology, numerous consensus algorithms have been introduced and practically utilized. These algorithms are able to ensure data consistency and security in distributed networks. This paper discusses the challenges and future development direction of blockchain consensus mechanisms and algorithms.

关键词： Industries Proof of stake Reviews Distributed ledger Finance consensus algorithm Proof of Work consensus protocol Security Informatics

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Battery Cell State of Charge Control in AC Battery Using a consensus-Based Distributed Control Scheme implemented with Hardware-in-the Loop

Battery Cell State of Charge Control in AC Battery Using a C...

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IEEE Central America and Panama Convention (CONCAPAN)

作者： Carlos Smart Violeta Rivera Claudio Burgos Mellado Miguel Torres Yeiner Arias-Esquivel Roberto Cardenas Diego Munoz-Carpintero Marcos E. Orchard Engineering Science Institute Universidad de O’Higgins Rancagua Chile Department of Electrical Engineering Universidad de Chile Santiago Chile Faculty of Engineering Universidad de los Andes Santiago Chile Department of Mechatronic Engineering Instituto Tecnologico de Costa Rica Cartago Costa Rica

ISBN: (数字)9798350366723

ISBN: (纸本)9798350366730

The objective of this paper is to validate a novel consensus-based control scheme for an AC battery system through hardware-in-the-loop (HIL) simulation. The proposed AC battery, designed with a modular multilevel converter (MMC), integrates battery cells with similar characteristics such as nominal voltage, state of health (SoH), and capacity. This flexible architecture allows for cost-effective and reconfigurable battery packs suitable for a broad range of applications, from electrified vehicles to stationary energy storage. The consensus-based control scheme aims to regulate the State of Charge (SoC) among the battery cells, ensuring balanced charge levels and enhancing overall system performance. To achieve this, local controllers (LC) are implemented within each SM of the MMC, facilitating modular computation and control. The HIL simulation framework is employed to rigorously test and validate the proposed control strategy under realistic operating conditions. The results demonstrate the effectiveness of the consensus-based control in maintaining balanced SoC across battery cells. This validation through HIL simulation underscores the practicality and reliability of the proposed AC battery system for diverse real-world applications.

关键词： Multilevel converters Hardware-in-the-loop simulation System performance Decentralized control consensus algorithm Stability analysis Robustness Batteries State of charge Vehicle dynamics

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Dynamic event-triggered bipartite fixed-time consensus control of delayed multi-agent systems with general directed typologies

Dynamic event-triggered bipartite fixed-time consensus contr...

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Chinese Control and Decision Conference, CCDC

作者： Weicheng Kuang Yaping Xia School of Automation and Electronic Information Xiangtan University Xiangtan China School of Electronic Engineering HuBei University of Technology Wuhan China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

In this paper, for a class of first-order nonlinear multi-agent systems(MASs) with input delay, the fixed time binary consensus problem under general directed graph is studied, and a fixed time consensus(FTC) protocol based on dynamic event-trigger mechanism is proposed. The system state converges to two values of the same numerical value but opposite sign in a fixed time, and the upper bound of the convergence time does not depend on the initial state. Finally, a simulation example verifies the validity of the proposed fixed time binary consensus algorithm and the theoretical results.

关键词： Protocols Upper bound Directed graphs consensus algorithm consensus control Nonlinear dynamical systems Delays

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Crowdsourced Clustering via Active Querying: Practical algorithm with Theoretical Guarantees 11th

Crowdsourced Clustering via Active Querying: Practical Algor...

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11th AAAI Conference on Human Computation and Crowdsourcing, HCOMP 2023

作者： Chen, Yi Vinayak, Ramya Korlakai Hassibi, Babak University of Wisconsin-Madison United States California Institute of Technology United States

ISBN: (纸本)9781577358848

We consider the problem of clustering n items into K disjoint clusters using noisy answers from crowdsourced workers to pairwise queries of the type: "Are items i and j from the same cluster?" We propose a novel, practical, simple, and computationally effcient active querying algorithm for crowdsourced clustering. Furthermore, our algorithm does not require knowledge of unknown problem parameters. We show that our algorithm succeeds in recovering the clusters when the crowdworkers provide answers with an error probability less than 1/2 and provide sample complexity bounds on the number of queries made by our algorithm to guarantee successful clustering. While the bounds depend on the error probabilities, the algorithm itself does not require this knowledge. In addition to the theoretical guarantee, we implement and deploy the proposed algorithm on a real crowdsourcing platform to characterize its performance in real-world settings. Based on both the theoretical and the empirical results, we observe that while the total number of queries made by the active clustering algorithm is order-wise better than random querying, the advantage applies most conspicuously when the datasets have small clusters. For datasets with large enough clusters, passive querying can often be more effcient in practice. Our observations and practically implementable active clustering algorithm can inform and aid the design of realworld crowdsourced clustering systems. We make the dataset collected through this work publicly available (and the code to run such experiments). © 2023, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： consensus algorithm

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Adaptive consensus Tracking Control for Nonlinear Multiagent Systems With Unknown Dynamics: A State Observer-Based Framework

引用

IEEE Systems Journal 2025年

作者： Chen, Xiao Li, Jinsha Chen, Jiaxi Li, Junmin Chen, Weisheng Xidian University School of Mathematics and Statistics Xi'an 710126 China Xidian University School of Aerospace Science and Technology Xi'an 710071 China

In this study, we introduce an observer-based adaptive output-feedback tracking consensus approach designed for a class of uncertain nonlinear leader–follower multiagent systems. Each follower agent exhibits second-order unknown nonlinear dynamics, incorporates unmeasured states, and possesses an unknown control direction. To tackle these challenges, fuzzy logic system is integrated with an observer, and a Nussbaum-type item is integrated into the protocol for each agent to adaptively and cooperatively determine the control direction. Subsequently, we have developed adaptive fuzzy distributed control protocols for each follower agent. The proposed consensus protocols have been demonstrated to ensure semiglobally uniformly ultimate boundedness for all system signals. Furthermore, we extend the control gain from constant to a state-dependent gain, delving into the globally uniformly ultimate boundedness of multiagent systems. To mitigate the intricacies arising from virtual control differentiation, command filtering is integrated with backstepping techniques, thereby streamlining the control process and enhancing overall system performance. The efficacy of the proposed method has been validated through simulation examples. © 2007-2012 IEEE.

关键词： Adaptive control consensus algorithm nonlinear multiagent systems (MASs) state observer unknown control directions

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Reaching Resilient Leader-Follower consensus in Time-Varying Networks via Multi-Hop Relays

arXiv

引用

arXiv 2024年

作者： Yuan, Liwei Ishii, Hideaki College of Electrical and Information Engineering Hunan University Changsha410082 China Department of Information Physics and Computing The University of Tokyo Tokyo113-8656 Japan

We study the problem of resilient leader-follower consensus of multi-agent systems (MASs) in the presence of adversarial agents, where agents’ communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the nonfaulty/normal follower agents to track an arbitrary reference value propagated by a set of leaders while they are in interaction with the unknown adversarial agents. Our approaches are based on the weighted mean subsequence reduced (W-MSR) algorithms with agents being capable to communicate with multi-hop neighbors. The proposed algorithms solve our resilient leader-follower consensus problem with agents possessing first-order and second-order dynamics. Moreover, we characterize tight necessary and sufficient graph conditions for the proposed algorithms to succeed in terms of the novel notion of jointly robust following graphs. Our graph condition is tighter than the sufficient graph conditions in the literature when agents use only one-hop communication (without relays). Using multi-hop relays, we are able to enhance robustness of leader-follower networks without increasing physical communication links and obtain further relaxed graph requirements for our algorithms to succeed. Numerical examples are given to verify the efficacy of the proposed algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： consensus algorithm

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