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Research on the strategies for collision avoidance of multi-UAV with three dimensional formation in combination of consensus algorithm and uniform flow

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IET CONTROL THEORY AND APPLICATIONS 2023年第18期17卷 2379-2401页

作者： Xu, Wei Cao, Ning Yancheng Teachers Univ Sch Phys & Elect Engn Yancheng Jiangsu Provinc Peoples R China Hohai Univ Coll Comp & Informat Nanjing Jiangsu Provinc Peoples R China

The paper proposes the method of uniform flow loading the improved consensus algorithm to achieve obstacle avoidance for multi-UAV with 3-D formation. In view of that the flow function is generally only applicable to two dimensional flow field, dimension reduction is to treat multi-UAV formation as each UAV flows around along the circular surface of the projected cylinder of spherical obstacle at its different heights. To formation guaranteeing the smooth realization of obstacle avoidance of multi-UAV formation centered on the leader, it is used the tactics of virtually expanding the radius of these static or moving equivalent cylindrical obstacles to reserve a certain space. The innovation of this strategy is to further reduce the possibility of collision between UAV formation and the edge of obstacles, meanwhile the problem of multi-UAV formation avoiding obstacles is transformed into the problem of collision avoidance navigation for the leader treated as a particle. It is considered collision avoidance for multi-UAV formation under three scenarios assumed are the most common situations, and the simulation experimental results of these scenarios are demonstrated on the validity of the designed experiments based on these algorithms.

关键词： aircraft control automobiles collision avoidance consensus algorithm continuous systems experimental design formation keeping stream function

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Distributed Control Strategy Based on a consensus algorithm and on the Conservative Power Theory for Imbalance and Harmonic Sharing in 4-Wire Microgrids

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IEEE TRANSACTIONS ON SMART GRID 2020年第2期11卷 1604-1619页

作者： Burgos-Mellado, Claudio Llanos, Jacqueline J. Cardenas, Roberto Saez, Doris Olivares, Daniel E. Sumner, Mark Costabeber, Alessandro Univ Nottingham PEMC Grp Nottingham NG7 2RD England Univ Fuerzas Armadas ESPE Sangolqui Ecuador Univ Chile Dept Elect Engn Santiago 8370451 Chile Inst Sistemas Complejos Ingn Santiago Chile Pontificia Univ Catolica Chile EE Dept Santiago 7820436 Chile Pontificia Univ Catolica Chile UC Energy Res Ctr Santiago 7820436 Chile

A distributed control system is proposed which uses the Conservative Power Theory (CPT) and a consensus algorithm to share imbalance and harmonics between different converters in three-phase four-wire droop-controlled Microgrids (MGs). The CPT is used to identify the balanced, unbalanced and distorted components of the currents and powers in the system. Control loops based on virtual impedance and implemented in the stationary a-b-c frame are then used to distribute these components between the various converters in the MG. The magnitudes of the virtual impedances are adaptively calculated using a novel consensus-based distributed control scheme with the aim of sharing imbalances and harmonics according to the residual VA capacity of each converter whilst regulating the imbalance and distortion at their output to meet the appropriate IEEE power quality standards. Extensive simulations show that the proposed distributed control has excellent performance, and experimental validation is provided using a laboratory-scale 4-wire MG.

关键词： Harmonic analysis Decentralized control Voltage control Power system harmonics Microgrids consensus algorithm Impedance 4-wire microgrids CPT imbalance sharing harmonic sharing distributed control consensus algorithm

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RESISTANCE-BASED PERFORMANCE ANALYSIS OF THE consensus algorithm OVER GEOMETRIC GRAPHS

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SIAM JOURNAL ON CONTROL AND OPTIMIZATION 2013年第5期51卷 3918-3945页

作者： Lovisari, Enrico Garin, Federica Zampieri, Sandro Lund Univ Dept Automat Control SE-22100 Lund Sweden INRIA Grenoble Rhone Alpes F-38334 Saint Ismier France Univ Padua Dept Informat Engn I-35131 Padua Italy

The performance of the linear consensus algorithm is studied by using a linear quadratic (LQ) cost. The objective is to understand how the communication topology influences this algorithm. This is achieved by exploiting the analogy between Markov chains and electrical resistive networks. Indeed, this allows us to uncover the relation between the LQ performance cost and the average effective resistance of a suitable electrical network and, moreover, to show that if the communication graph fulfills some local properties, then its behavior can be approximated by that of a grid, which is a graph whose associated LQ cost is well known.

关键词： multiagent systems consensus algorithm distributed averaging large-scale graphs

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Performance Analysis of the Raft consensus algorithm for Private Blockchains

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2020年第1期50卷 172-181页

作者： Huang, Dongyan Ma, Xiaoli Zhang, Shengli Shenzhen Univ Coll Informat Engn Shenzhen 518060 Peoples R China Georgia Inst Technol Sch Elect & Comp & Engn Atlanta GA 30332 USA

consensus is one of the key problems in blockchains. There are many articles analyzing the performance of threat models for blockchains. But the network stability seems lack of attention, which in fact affects the blockchain performance. This paper studies the performance of a well adopted consensus algorithm, Raft, in networks with non-negligible packet loss rate. In particular, we propose a simple but accurate analytical model to analyze the distributed network split probability. At a given time, we explicitly present the network split probability as a function of the network size, the packet loss rate, and the election timeout period. To validate our analysis, we implement a Raft simulator and the simulation results coincide with the analytical results. With the proposed model, one can predict the network split time and probability in theory and optimize the parameters in Raft consensus algorithm.

关键词： Voting Blockchain Heart beat consensus algorithm Packet loss Transient analysis Blockchain network split probability private blockchain Raft consensus algorithm

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Long-Term Proof-of-Contribution: An Incentivized consensus algorithm for Blockchain-Enabled Federated Learning

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IEEE TRANSACTIONS ON SERVICES COMPUTING 2024年第5期17卷 2558-2570页

作者： Zhao, Yao Qu, Youyang Xiang, Yong Chen, Feifei Gao, Longxiang Deakin Univ Sch Informat Technol Burwood Vic 3125 Australia Qilu Univ Technol Shandong Acad Sci Shandong Comp Sci Ctr Key Lab Comp Power Network & Informat SecurMinist Jinan 250316 Peoples R China Shandong Fundamental Res Ctr Comp Sci Shandong Prov Key Lab Comp Networks Jinan 250316 Peoples R China

The surge in data collected by local devices has given rise to a distributed machine learning architecture named Federated Learning (FL) for privacy-preserving model training. However, the security of centralized aggregation of local models becomes a primary concern, which can be mitigated by Blockchain-enabled Federated Learning (BFL) to facilitate decentralized model aggregation. In BFL, consensus and incentive are two of the key components that impact the scalability, security, and consistency of the system. Existing joint solutions focus on selecting a block producer based on client contributions to model training but overlook contributions to blockchain consensus and lack consideration for correlations across communication rounds, inevitably affecting incentive performance. Motivated by these, we make the first attempt to achieve blockchain consensus with a long-term incentive guarantee for BFL systems. Following a generalizable BFL workflow, we decouple the global contribution of BFL clients into four rigorously modeled metrics, and formulate the block producer selection problem as a long-term total contribution maximization problem with reward constraints. A Long-term Proof-of-Contribution algorithm named LPoC is developed to handle this problem efficiently. In each communication round, LPoC identifies an optimal block producer that can maximize total contributions from a long-term perspective while allocating rewards to continuously motivate clients to contribute to BFL. We provide a detailed analysis of time complexity and performance bounds, followed by extensive experimental evaluations. The results demonstrate the effectiveness of LPoC in maximizing long-term total contribution, improving consensus efficiency, and upgrading training performance.

关键词： Blockchain-enabled federated learning consensus algorithm incentive mechanism long-term Blockchain-enabled federated learning consensus algorithm incentive mechanism long-term

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Advances in Consortium Chain Scalability: A Review of the Practical Byzantine Fault Tolerance consensus algorithm

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INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS 2024年第7期15卷 977-991页

作者： Wahab, Nur Haliza Abdul Dayong, Zhang Fadila, Juniardi Nur Wong, Keng Yinn Univ Teknol Malaysia Fac Comp Johor Baharu Malaysia Univ Teknol Malaysia Fac Mech Johor Baharu Malaysia

technology, renowned for its decentralized, immutable, and transparent features, offers a reliable framework for trust in distributed systems. The growing popularity of consortium blockchains, which include public, private, hybrid, and consortium chains, stems from their balance of privacy and collaboration. A significant challenge in these systems is the scalability of consensus mechanisms, particularly algorithm. This review focuses on enhancing PBFT's scalability, a critical factor in the effectiveness of consortium chains. Innovations such as Boneh-Lynn-Shacham (BLS) signatures and Verifiable Random Functions (VRF) are highlighted for their ability to reduce algorithmic complexity and increase transaction throughput. The discussion extends to real-world applications, particularly in platforms like Hyperledger Fabric, showcasing the practical benefits of these advancements. This paper provides a concise overview of the latest methodologies that enhance the performance scalability of PBFT-based consortium chains, serving as a valuable resource for researchers and practitioners aiming to optimize these systems for high-performance demands.

关键词： Blockchain Practical Byzantine Fault Tolerance (PBFT) consensus algorithm cryptography

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Performance enhancement in blockchain based IoT data sharing using lightweight consensus algorithm

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SCIENTIFIC REPORTS 2024年第1期14卷 1-13页

作者： Haque, Ehtisham Ul Abbasi, Waseem Almogren, Ahmad Choi, Jaeyoung Altameem, Ayman Rehman, Ateeq Ur Hamam, Habib COMSATS Univ Islamabad Dept Comp Sci Abbottabad Campus Islamabad 22200 Pakistan Univ Lahore Dept Comp Sci Sargodha Campus Lahore 40100 Pakistan King Saud Univ Coll Comp & Informat Sci Dept Comp Sci Riyadh 11633 Saudi Arabia Gachon Univ Sch Comp Seongnam 13120 South Korea King Saud Univ Coll Appl Studies & Community Serv Dept Nat & Engn Sci Riyadh 11543 Saudi Arabia Univ Moncton Fac Engn Moncton NB E1A3E9 Canada Univ Johannesburg Sch Elect Engn ZA-2006 Johannesburg South Africa Hodmas Univ Coll Taleh Area Mogadishu 521376 Banadir Somalia Spectrum Bridges Acad Excellence Tunis 1002 Centre Ville Tunisia

The proliferation of Internet of Things (IoT) devices generates vast amounts of data, traditionally stored, processed, and analyzed using centralized systems, making them susceptible to attacks. Blockchain offers a solution by storing and securing IoT data in a distributed manner. However, the low performance and poor scalability of blockchain technology pose significant challenges for its application in IoT networks. The primary obstacle is the distributed consensus protocol, while ensuring data transparency, integrity, and immutability in a decentralized and untrusted circumstances which often compromises scalability. To address this issue, this paper introduces the use of the Delegated Proof of Stake (DPoS) consensus algorithm and sharding techniques to enhance scalability in blockchain-based IoT networks. Experimental results indicate that system throughput increases synchronously with the test load. Our findings reveal a tradeoff between throughput, latency, and up-downstream time on the Inter Planetary File System (IPFS). Given the critical importance of latency and throughput in IoT networks, the results demonstrate that DPoS offers high throughput, parallel processing, and robust security while efficiently scaling the network. Furthermore, at a test load of 500 Transactions Per Second (TPS), the system achieves a maximum throughput of approximately 11.094 ms. However, when the test load exceeds 2000 TPS, the total processing time for transactions extends to 11.205 ms. This method is particularly suitable for constrained IoT networks. Compared to previous edge computing-based approaches, our scheme demonstrates superior throughput performance.

关键词： Blockchain consensus algorithm Data storage Internet of things Parallel execution Scalability Sharding Smart contract

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A secure and highly efficient blockchain PBFT consensus algorithm for microgrid power trading

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SCIENTIFIC REPORTS 2024年第1期14卷 1-17页

作者： Yao, Zhongyuan Fang, Yonghao Pan, Heng Wang, Xiangyang Si, Xueming Zhongyuan Univ Technol Frontier Informat Technol Res Inst Zhengzhou 450007 Peoples R China Henan Int Joint Lab Blockchain & Data Sharing Zhengzhou 450007 Peoples R China

There are a series of challenges in microgrid transactions, and blockchain technology holds the promise of addressing these challenges. However, with the increasing number of users in microgrid transactions, existing blockchain systems may struggle to meet the growing demands for transactions. Therefore, this paper proposes an efficient and secure blockchain consensus algorithm designed to meet the demands of large-scale microgrid electricity transactions. The algorithm begins by utilizing a Spectral clustering algorithm to partition the blockchain network into different lower-level consensus set based on the transaction characteristics of nodes. Subsequently, a dual-layer consensus process is employed to enhance the efficiency of consensus. Additionally, we have designed a secure consensus set leader election strategy to promptly identify leaders with excellent performance. Finally, we have introduced an authentication method that combines zero-knowledge proofs and key sharing to further mitigate the risk of malicious nodes participating in the consensus. Theoretical analysis indicates that our proposed consensus algorithm, incorporating multiple layers of security measures, effectively withstands blockchain attacks such as denial of service. Simulation experiment results demonstrate that our algorithm outperforms similar blockchain algorithms significantly in terms of communication overhead, consensus latency, and throughput.

关键词： Blockchain Distributed energy trading consensus algorithm Spectral clustering Zero-knowledge proof

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Distributed task allocation for multiple heterogeneous UAVs based on consensus algorithm and online cooperative strategy

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AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY 2018年第9期90卷 1464-1473页

作者： Wu, Weinan Cui, Naigang Shan, Wenzhao Wang, Xiaogang Harbin Inst Technol Dept Aerosp Engn Harbin Heilongjiang Peoples R China Harbin Inst Technol Dept Space Engn Harbin Heilongjiang Peoples R China Harbin Inst Technol Harbin Heilongjiang Peoples R China

Purpose - The purpose of this paper is to develop a distributed task allocation method for cooperative mission planning of multiple heterogeneous unmanned aerial vehicles (UAVs) based on the consensus algorithm and the online cooperative strategy. Design/methodology/approach - In this paper, the allocation process is conducted in a distributed framework. The cooperative task allocation problem is proposed with constraints and uncertainties in a real mission. The algorithm based on the consensus algorithm and the online cooperative strategy is proposed for this problem. The local chain communication mode is adopted to restrict the bandwidth of the communication link among the UAVs, and two simulation tests are given to test the optimality and rapidity of the proposed algorithm. Findings - This method can handle both continuous and discrete uncertainties in the mission space, and the proposed algorithm can obtain a feasible solution in allowable time. Research limitations/implications - This study is only applied to the case that the total number of the UAVs is less than 15. Practical implications - This study is expected to be practical for a real mission with uncertain targets. Originality/value - The proposed algorithm can go beyond previous works that only deal with continuous uncertainties, and the Bayesian theorem is adopted for estimation of the target.

关键词： consensus algorithm Heterogeneous UAVs Online cooperative strategy Task allocation The Bayesian theorem

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Distributed Optimal Resource Management Based on the consensus algorithm in a Microgrid

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2015年第4期62卷 2584-2592页

作者： Xu, Yinliang Li, Zhicheng Sun Yat Sen Univ Sun Yat Sen Univ Carnegie Mellon Univ Joint Inst Guangzhou 510006 Guangdong Peoples R China Sun Yat Sen Univ Carnegie Mellon Univ Int Joint R Shunde 528300 Peoples R China Harbin Inst Technol Harbin 150001 Peoples R China

A microgrid is a promising approach to provide clean, renewable, and reliable electricity by integrating various distributed generations and energy storage systems into power systems. However, highly intermittent renewable generations and various load demands pose new challenges to the optimal resource management in a microgrid. This paper proposes a fully distributed control strategy based on the consensus algorithm for the optimal resource management in an islanded microgrid. The proposed strategy is implemented through a multiagent system framework, which only requires information exchange among neighboring agents through a local network. The objective is achieved through a two-level control strategy. The upper control level is a consensus-based optimization algorithm that discovers the reference of optimal power generation or demand while maintaining the supply-demand balance. The lower control level is responsible for reference tracking of the associated component. Simulation results in the IEEE 14- and 162-bus systems are presented to demonstrate the effectiveness of the proposed control strategy.

关键词： consensus algorithm islanded microgrid optimal resource management renewable generation (RG)

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