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Formation Path Planning for Collaborative Autonomous Underwater Vehicles Based on consensus-Sparrow Search algorithm

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IEEE INTERNET OF THINGS JOURNAL 2024年第8期11卷 13810-13823页

作者： Zhang, Jie Chen, Dugui Han, Guangjie Qian, Yujie Hohai Univ Coll Informat Sci & Engn Changzhou 213200 Peoples R China Chinese Acad Sci Inst Acoust State Key Lab Acoust Beijing 100190 Peoples R China

Formation path planning of autonomous underwater vehicles (AUVs) entails establishing optimal collision-free routes over challenging underwater terrain while maintaining state coherence to preserve an intended formation, and path planning techniques have been the subject of significant study over the last decade, with swarm intelligence algorithms, such as the sparrow search algorithm (SSA), being among the most commonly employed. However, the algorithms typically are constrained by the imbalanced adjustment between local development and global exploration, which reduces the optimization capability, and they are relatively understudied for the formation movement issues. Accordingly, this article proposes a consensus-SSA-based formation path planning (CSFPP) method, which applies an improved SSA for planning an optimal path, and then incorporates the path into a consensus algorithm that introduces an artificial potential field (APF) to enable collaborative formation movement. In the path planning phrase, the CSFPP employs an improved SSA which applies the golden search optimization (GSO) and an adaptive iteration approach to adjust the local development and global exploration in order to improve the overall optimization performance. Then in the formation control phrase, the CSFPP introduces a virtual point scheme for APF-based obstacle avoidance in order to navigate an AUV formation in an obstacle environment while maintaining the formation shape controlled by a consensus algorithm. The superiority of the proposed path planning capability is demonstrated by comparing the convergence performance of the improved SSA with the recent contributions;and simulations of formation movement in underwater space verify the feasibility of the proposed formation control method in the obstacle environment.

关键词： Autonomous underwater vehicle (AUV) consensus algorithm formation control path planning sparrow search algorithm (SSA)

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Privacy-Preserving Average consensus With Beaver Triple and Communication Obfuscation

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IEEE Transactions on Automatic Control 2025年

作者： Wang, Peng Lu, Yang Lian, Jianming Pan, Lulu Shao, Haibin Li, Ning Shanghai Jiao Tong University Department of Automation Shanghai200240 China Lancaster University School of Computing and Communications United Kingdom Oak Ridge National Laboratory Oak RidgeTN37830 United States

A privacy-preserving average consensus algorithm is proposed that synergizes the Beaver triple in secret sharing theory and noise obfuscation. The algorithm safeguards the initial values of agents against passive adversaries in a multi-agent system. It is proved that the proposed algorithm can concurrently ensure average consensus and privacy, while also reducing the online computation and communication overhead compared to encryption-based ones. Additionally, it imposes a less stringent condition for privacy preservation compared to certain noise-obfuscation techniques. © 2025 IEEE.

关键词： consensus algorithm

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Distributed Cutting Plane Method Via Sample Point consensus

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IEEE Transactions on Automatic Control 2025年

作者： Zhong, Tianyi Angeli, David Imperial College Control and Power Group Electrical and Electronic Engineering Department LondonSW7 2AZ United Kingdom University of Florence Department of Information Engineering Italy

This paper considers a general setup for the constrained convex optimisation problem over jointly-fully connected time-varying networks. We propose a novel cutting plane-based method that embeds a proximity-based consensus scheme for solving this (potentially non-smooth) optimisation problem. The consensus mechanism allows agents to select the same sample point and therefore reconstruct the centralised cut individually. Under convexity, we prove that agents' sample points converge to the optimal set of the global problem. Numerical tests show the performance of the algorithm. © 1963-2012 IEEE.

关键词： consensus algorithm

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JABS: A Blockchain Simulator for Researching consensus algorithms

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IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING 2024年第1期11卷 3-13页

作者： Yajam, Habib Ebadi, Elnaz Akhaee, Mohammad Ali Univ Tehran Sch Elect & Comp Engn Tehran 14395515 Iran

The consensus algorithm is fundamental to the decentralization property of blockchain technology. Developing blockchain networks and consensus algorithms necessitates the analysis of variables on large global-scale networks through experiments. However, conducting experiments on test networks is expensive due to the high cost of necessary infrastructure. In this article, JABS (Just Another Blockchain Simulator), a simulator specifically designed for researching large-scale blockchain consensus algorithms, is introduced. Superior performance in simulating real-world scale blockchain networks compared to other frameworks is demonstrated in this article. JABS is faster, more efficient, and produces accurate results that are comparable to measurements from Bitcoin and Ethereum blockchain networks. JABS' modularity, which allows for the easy substitution of components without changing others, is highlighted. Additionally, JABS aids in the design and evaluation of new consensus algorithms. Improving the CasperFFG consensus algorithm is proposed and its improved performance using JABS is demonstrated.

关键词： Blockchain consensus algorithm decentralization performance simulation simulator

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A Survey on consensus algorithms in Blockchain-Based Applications: Architecture, Taxonomy, and Operational Issues

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IEEE ACCESS 2023年 11卷 39066-39082页

作者： Islam, Saminur Islam, Mohammad Jaminur Hossain, Mahmud Noor, Shahid Kwak, Kyung-Sup Islam, S. M. Riazul North Carolina State Univ Dept Comp Sci Raleigh NC 27606 USA Univ Calif Riverside Dept Comp Sci Riverside CA 92521 USA Amazon Inc Dept Private Certificate Author Seattle WA 98109 USA Northern Kentucky Univ Dept Comp Sci Highland Hts KY 41099 USA Inha Univ Dept Informat & Commun Engn Incheon 22212 South Korea Univ Huddersfield Dept Comp Sci Huddersfield HD1 3DH England

Recently, Blockchain-based applications have become immensely popular because of limited reliance on a single entity, unlike a centralized system. However, reaching a consensus among blockchain networks is a challenging and vital aspect of blockchain-based applications. There are various types of blockchain networks for different kinds of application scenarios. Among all of them, the consensus algorithm is the most crucial part of reaching an agreement in the complex blockchain network. Over the years, researchers have focused on dealing with the challenges like distributed computing, storage, transaction speed, security, validity, interoperability, and many more. However, only some of them are appropriate for all domains. Therefore, this paper presents an extensive study of different types of consensus protocols used in existing blockchain solutions with the strength and limitations of each algorithm. We also provide an inherent comparison among different algorithms to understand consensus protocol selection better. Moreover, we investigate operational and interoperability issues in existing blockchain-based applications to understand challenges and provide recommendations for future developers.

关键词： Blockchains consensus algorithm Interoperability consensus protocol Protocols Computer science Systematics Blockchain consensus algorithm interoperability cross-chain transactions architecture operational issues applications research directions

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Avoiding Distractions in Parity Games 12th

Avoiding Distractions in Parity Games

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12th International Symposium on Leveraging Applications of Formal Methods, Verification and Validation

作者： van Dijk, Tom Univ Twente Formal Methods & Tools Enschede Netherlands

ISBN: (纸本)9783031753794;9783031753800

We consider algorithms for parity games that use attractor decomposition, such as Zielonka's recursive algorithm, priority promotion, and tangle learning. In earlier work, we identified the Two Counters parity game family that requires exponential time for many algorithms, including attractor decomposition algorithms, and we identified the main mechanism that slows down parity game algorithms as so-called distractions. We observe a fundamentally different approach in avoiding distractions between algorithms that use attractor decomposition and algorithms that compute progress measures. We now propose an alternative attractor-based method to avoid distractions by applying the attractor decomposition recursively. We demonstrate that this algorithm solves the Two Counters games efficiently, but that a modification of the Two Counters method can also delay the recursive algorithm exponentially.

关键词： consensus algorithm

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Cell Based Raft algorithm for Optimized consensus Process on Blockchain in Smart Data Market

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IEEE ACCESS 2022年 10卷 85199-85212页

作者： Yang, Dana Doh, Inshil Chae, Kijoon Ewha Womans Univ Dept Comp Sci & Engn Seoul 03760 South Korea Ewha Womans Univ Dept Cyber Secur Seoul 03760 South Korea

Due to the explosive increase in IoT devices and traffic, big data is developing into smart data that helps the data science experts understand human activities, through the relationship between mobility and resource application of the users in public spaces. For example, smart data markets help to predict crimes or understand the cause of COVID-19 infections. For these smart services, the users agree to the privacy policy so that the personal and sensitive information can be collected by a third party. But the conditions of the privacy policy do not specify whether the information of the users can be tracked. To ensure data transparency, many systems are applying consortium/private blockchains with raft algorithm. The raft algorithm requires nodes to check countless messages for a single transaction. Eventually, as the number of nodes increases, the overall system degradation is derived from the burden of the leader node. This paper proposes a method to process the collected transactions by dividing a certain amount of transactions into cells, without any extra protocol. The proposed scheme also uses the federated learning model with high accuracy and data privacy, in order to determine the optimized cell size in a blockchain system that should lead to consensus on multiple servers. Therefore, the proposed CBR (Cell-based Raft) consensus algorithm proposes a protocol that reduces the number of messages, without interfering with the concept of the existing raft algorithm, in order to maintain stable throughput in the smart data market where massive transactions occur.

关键词： Blockchains Servers consensus algorithm Collaborative work Internet of Things Throughput Smart devices Data science Smart service blockchain consensus algorithm raft algorithm federated learning

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Stealthy Data Integrity Attack Against consensus-Based Distributed Energy Management algorithm

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2024年第8期20卷 9976-9986页

作者： Jin, Wentao Zhou, Yadong Liu, Yang Liu, Ting Xi An Jiao Tong Univ MOE KLINNS Lab Xian 710049 Peoples R China

consensus-based distributed energy management (DEM) algorithm is a promising approach to manage distributed energy resources in microgrids. However, it introduces new risks of cyber-attacks to microgrids. This article proposes a new data integrity attack against consensus-based DEM algorithm, which enables the attacker to manipulate the power scheduling result of the attacked node and ultimately compromise its economic benefits. Specifically, we design a method to infer the privacy data of the attacked node from its broadcast information, and then use the inferred privacy data to design the false data that can manipulate the power scheduling result of the attacked node. The proposed method includes an analysis of the relationship between the difficulty of launching such an attack and the system topology, some findings contribute to designing a more secure communication topology. The attack offers higher stealthiness as it does not break power balance and the consistency of consensus variables, its effectiveness is verified on a 16-node microgird.

关键词： consensus algorithm data integrity attack distributed energy management (DEM) microgird

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Efficient Matroid Intersection via a Batch-Update Auction algorithm 8

Efficient Matroid Intersection via a Batch-Update Auction Al...

引用

8th SIAM Symposium on Simplicity of algorithms, SOSA 2025

作者： Blikstad, Joakim Tu, Ta-Wei KTH Royal Institute of Technology Max Planck Institute for Informatics Germany Stanford University United States

ISBN: (纸本)9781611978315

Given two matroids M1 and M2 over the same n-element ground set, the matroid intersection problem is to find a largest common independent set, whose size we denote by r. We present a simple and generic auction algorithm that reduces (1 − Ε)-approximate matroid intersection to roughly 1/Ε2 rounds of the easier problem of finding a maximum-weight basis of a single matroid. Plugging in known primitives for this subproblem, we obtain both simpler and improved algorithms in two models of computation, including: • The first near-linear time/independence-query (1 − Ε)-approximation algorithm for matroid intersection. Our randomized algorithm uses1 Õ(n/Ε + r/Ε5) independence queries, improving upon the previous Õ(n/Ε + r√r/Ε3) bound of Quanrud (2024). • The first sublinear exact parallel algorithms for weighted matroid intersection, using O(n2/3) rounds of rank queries or O(n5/6) rounds of independence queries. For the unweighted case, our results improve upon the previous O(n3/4)-round rank-query and O(n7/8)-round independence-query algorithms of Blikstad (2022). Copyright © 2025 Copyright for this paper is retained by authors.

关键词： consensus algorithm

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A Novel consensus-Based Distributed algorithm for Economic Dispatch Based on Local Estimation of Power Mismatch

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IEEE TRANSACTIONS ON SMART GRID 2018年第6期9卷 5930-5942页

作者： Pourbabak, Hajir Luo, Jingwei Chen, Tao Su, Wencong Univ Michigan Dept Elect & Comp Engn Coll Engn & Comp Sci Dearborn MI 48128 USA

This paper proposes a novel consensus-based distributed control algorithm for solving the economic dispatch (ED) problem of distributed generators (DGs). A legacy central controller can be eliminated in order to avoid a single point of failure, relieve computational burden, maintain data privacy, and support plug-and-play functionalities. The optimal ED is achieved by allowing the iterative coordination of local agents (consumers and DGs). As coordination information, the local estimation of power mismatch is shared among DGs through communication networks and does not contain any private information, ultimately contributing to a fair electricity market. Additionally, the proposed distributed algorithm is particularly designed for easy implementation and configuration of a large number of agents in which the distributed decision making can be implemented in a simple proportional-integral or integral controller. In MATLAB/Simulink simulation, the accuracy of the proposed distributed algorithm is demonstrated in a 29-node system in comparison with the centralized algorithm. Scalability and a fast convergence rate are also demonstrated in a 1400-node case study. Further, the experimental test demonstrates the practical performance of the proposed distributed algorithm using the VOLTTRON platform and a cluster of low-cast credit-card-size single-board PCs.

关键词： Economic dispatch distributed control consensus algorithm distributed generator

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