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A new class of consensus protocols for agent networks with discrete time dynamics

AUTOMATICA 2015年 54卷 1-7页

作者： Fanti, Maria Pia Mangini, Agostino Marcello Mazzia, Francesca Ukovich, Walter Polytech Bari Dept Elect & Informat Sci I-70126 Bari Italy Univ Bari Dept Math Bari Italy Univ Trieste Dept Engn & Architecture Trieste Italy

The paper introduces a new class of consensus protocols to reach an agreement in networks of agents with discrete time dynamics. In order to guarantee the convergence of the proposed algorithms, some general results are proved in the framework of non-negative matrix theory. Moreover, we characterize the set of the consensus protocols and we specify the algorithm that each agent has to employ. Furthermore, we show that in the case of balanced graphs, the agents can apply the consensus protocols by a decentralized and scalable computation. The convergence properties are studied by a set of tests that show the good performance of the proposed algorithm for different network topologies, even in the cases in which the standard protocols do not exhibit satisfying performances. In particular, a rigorous theoretical analysis of the proposed protocol convergence for networks with ring topology is provided and compared with the standard algorithm. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Sensor networks Multi-agent systems consensus algorithms Convergence analysis

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Expected Convergence Rate to consensus in Asymmetric Networks: Analysis and Distributed Estimation

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2020年第3期50卷 972-987页

作者： Asadi, Mohammad Mehdi Khosravi, Mohammad Aghdam, Amir G. Blouin, Stephane Concordia Univ Dept Elect & Comp Engn Montreal PQ H3G 1M8 Canada Swiss Fed Inst Technol Automat Control Lab CH-8092 Zurich Switzerland Def Res & Dev Canada Atlantic Res Ctr Dartmouth NS B2Y 3Z7 Canada

This paper investigates the expected rate of convergence to consensus in an asymmetric network represented by a weighted directed graph. The initial state of the network is represented by a random vector and the expectation is taken with respect to the random initial condition of the network. The proposed convergence rate is described in terms of the eigenvalues of the Laplacian matrix of the network graph. The generalized power iteration algorithm is then introduced based on the Krylov subspace method to compute the proposed expected convergence rate in a centralized fashion. To this end, the Laplacian matrix of the network is transformed to a new matrix such that existing techniques can be used to find the eigenvalue representing the expected convergence rate of the network. The convergence analysis of the centralized algorithm is performed with a prescribed upper bound on the approximation error of the algorithm. A distributed version of the centralized algorithm is then developed using the notion of consensus observer. The efficiency of the algorithms is subsequently demonstrated by simulations.

关键词： Convergence Eigenvalues and eigenfunctions Laplace equations Approximation algorithms Observers Network topology Asymmetric networks consensus algorithms consensus observer expected convergence rate (ECR) Krylov subspace method

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A Survey on Decentralized consensus Mechanisms for Cyber Physical Systems

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IEEE ACCESS 2020年 8卷 54371-54401页

作者： Bodkhe, Umesh Mehta, Dhyey Tanwar, Sudeep Bhattacharya, Pronaya Singh, Pradeep Kumar Hong, Wei-Chiang Nirma Univ Inst Technol Dept Comp Sci & Engn Ahmadabad 382481 Gujarat India Jaypee Univ Informat Technol Dept Comp Sci & Engn Waknaghat 173234 India Oriental Inst Technol Dept Informat Management New Taipei 220 Taiwan

Modern industry 4.0 applications are shifting towards decentralized automation of computing and cyber-physical systems (CPS), which necessitates building a robust, secure, and efficient system that performs complex interactions with other physical processes. To handle complex interactions in CPS, trust and consensus among various stakeholders is a prime concern. In a similar direction, consensus algorithms in blockchain have evolved over the years that focus on building smart, robust, and secure CPS. Thus, it is imperative to understand the key components, functional characteristics, and architecture of different consensus algorithms used in CPS. Many consensus algorithms exist in the literature with a specified set of functionalities, performance, and computing services. Motivated from these facts, in this survey, we present a comprehensive analysis of existing state-of-the-art consensus mechanisms and highlight their strength and weaknesses in decentralized CPS applications. In the first part, we present the scope of the proposed survey and identify gaps in the existing surveys. Secondly, we present the review method and objectives of the proposed survey based on research questions that address the gaps in existing studies. Then, we present a solution taxonomy of decentralized consensus mechanisms for various CPS applications. Then, open issues and challenges are also discussed in deploying various consensus mechanisms in the CPS with their merits and demerits. The proposed survey will act as a road-map for blockchain developers and researchers to evaluate and design future consensus mechanisms, which helps to build an efficient CPS for industry 4.0 stakeholders.

关键词： Blockchain consensus algorithms cyber-physical systems IoT smart grid supply chain management intelligent transportation

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Distributed control for energy-efficient and fast consensus in wireless sensor networks

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INTERNATIONAL JOURNAL OF CONTROL 2017年第5期90卷 1090-1103页

作者： Manfredi, Sabato Di Tucci, Edmondo Univ Naples Federico II Dept Elect Engn & Informat Technol Naples Italy Imperial Coll Elect & Elect Engn Dept Control & Power Grp London England

The paper proposes a distributed control of nodes transmission radii in energy-harvesting wireless sensor networks for simultaneously coping with energy consumption and consensus responsiveness requirement. The stability of the closed-loop network under the proposed control law is proved. Simulation validations show the effectiveness of the proposed approach in nominal scenario as well as in the presence of uncertain node power requirements and harvesting system supply.

关键词： Wireless sensor networks distributed control consensus algorithms energy efficiency energy harvesting

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Agent-based simulation framework and consensus algorithm for observing systems with adaptive modularity

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SYSTEMS ENGINEERING 2018年第5期21卷 432-454页

作者： Gallud, Ximo Selva, Daniel Cornell Univ Ithaca NY USA

In this era of the big data revolution, the desired capabilities of Earth Observing Systems are growing fast: we need ever more frequent data sets, covering a larger part of the frequency spectrum, with lower latency, and higher spatial resolution. To better address these needs, the space systems community has been exploring the value of shifting from highly monolithic architectures, in which large and isolated spacecraft carry multiple instruments with synergistic and complementary goals, toward more distributed architectures, where the functions of these large systems are partitioned into a larger number of smaller satellites. In this paper, we present an agent-based simulation framework that can help systems engineers assess whether or not it makes sense to be able to change system modularity during operations by means of temporary coalitions. Systems of observing autonomous vehicles work together to perform a set of observational tasks. The vehicles can decide to form physical coalitions with other vehicles for collective sensing of a target, when no agent alone can carry out the task, or individual observation results in degraded satisfaction. The framework extends the well-known decentralized Coupled-Constraint consensus-Based Bundle Algorithm to multivehicle single-task allocation and introduces constraints on the formation of coalitions, so that agents can create or split a coalition depending on the benefits and costs associated with these actions. The framework is described in detail and demonstrated on a case study.

关键词： coalition formation consensus algorithms distributed satellite systems multiagent systems SEE25 systems of systems (SoS)

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Robust Gossiping for Distributed Average consensus in IoT Environments

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IEEE ACCESS 2019年 7卷 994-1005页

作者： Orostica, Boris Nunez, Felipe Pontificia Univ Catolica Chile Dept Elect Engn Santiago 7820436 Chile

As communication technologies have enlarged the set of devices with networking capabilities, a new conception of the Internet of Things (IoT) is emerging. The incorporation of devices with advanced diagnosis and actuating capabilities to the IoT provides an appealing environment to control external processes using its sensing, actuating, and computational power, yet it makes the operation difficult. In this setting, consensus algorithms are an interesting alternative to support the operation of the IoT and to enable its potential as a distributed control network. Although consensus algorithms are mature, well studied strategies that naturally adjust to networks, their performance deteriorates when faced with phenomena such as stochastic delays, sequential transmissions and receptions, and unreliability in the information exchanging process, all pervasive in an IoT environment. In this paper, an algorithm for achieving average consensus over an IoT environment is presented and evaluated in an IoT testbed. The proposed algorithm is inspired by gossips, yet it is deadlock-free by design, and shows convergence to the average in all cases.

关键词： consensus algorithms Internet of Things multi-agent control distributed control

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Distributed Particle Filter Implementation With Intermittent/Irregular consensus Convergence

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 2013年第10期61卷 2572-2587页

作者： Mohammadi, Arash Asif, Amir York Univ Toronto ON M3J 1P3 Canada

Motivated by non-linear, non-Gaussian, distributed multi-sensor/agent navigation and tracking applications, we propose a multi-rate consensus/fusion based framework for distributed implementation of the particle filter (CF/DPF). The CF/DPF framework is based on running localized particle filters to estimate the overall state vector at each observation node. Separate fusion filters are designed to consistently assimilate the local filtering distributions into the global posterior by compensating for the common past information between neighboring nodes. The CF/DPF offers two distinct advantages over its counterparts. First, the CF/DPF framework is suitable for scenarios where network connectivity is intermittent and consensus can not be reached between two consecutive observations. Second, the CF/DPF is not limited to the Gaussian approximation for the global posterior density. A third contribution of the paper is the derivation of the exact expression for computing the posterior Cramer-Rao lower bound (PCRLB) for the distributed architecture based on a recursive procedure involving the local Fisher information matrices (FIMs) of the distributed estimators. The performance of the CF/DPF algorithm closely follows the centralized particle filter approaching the PCRLB at the signal to noise ratios that we tested.

关键词： consensus algorithms data fusion distributed estimation multi-sensor tracking non-linear systems particle filters

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ODIN: Obfuscation-Based Privacy-Preserving consensus Algorithm for Decentralized Information Fusion in Smart Device Networks

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ACM TRANSACTIONS ON INTERNET TECHNOLOGY 2017年第1期18卷 1-22页

作者： Ambrosin, Moreno Braca, Paolo Conti, Mauro Lazzeretti, Riccardo Univ Padua Human Inspired Technol Res Ctr Padua Italy NATO STO CMRE La Spezia Italy Univ Padua Dept Math Padua Italy Sapienza Univ Rome Dept Comp Engn Rome Italy Intel Labs Hillsboro OR USA

The large spread of sensors and smart devices in urban infrastructures are motivating research in the area of the Internet of Things (IoT) to develop new services and improve citizens' quality of life. Sensors and smart devices generate large amounts of measurement data from sensing the environment, which is used to enable services such as control of power consumption or traffic density. To deal with such a large amount of information and provide accurate measurements, service providers can adopt information fusion, which given the decentralized nature of urban deployments can be performed by means of consensus algorithms. These algorithms allow distributed agents to (iteratively) compute linear functions on the exchanged data, and take decisions based on the outcome, without the need for the support of a central entity. However, the use of consensus algorithms raises several security concerns, especially when private or security critical information is involved in the computation. In this article we propose ODIN, a novel algorithm allowing information fusion over encrypted data. ODIN is a privacy-preserving extension of the popular consensus gossip algorithm, which prevents distributed agents from having direct access to the data while they iteratively reach consensus;agents cannot access even the final consensus value but can only retrieve partial information (e.g., a binary decision). ODIN uses efficient additive obfuscation and proxy re-encryption during the update steps and garbled circuits to make final decisions on the obfuscated consensus. We discuss the security of our proposal and show its practicability and efficiency on real-world resource-constrained devices, developing a prototype implementation for Raspberry Pi devices.

关键词： consensus algorithms information fusion Internet of Things privacy-preserving applications proxy re-encryption secure multiparty computation

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A consensus-Based Algorithm for Truck Platooning

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2017年第2期18卷 404-415页

作者： Saeednia, Mahnam Menendez, Monica Swiss Fed Inst Technol Inst Transportat Planning & Syst IVT Dept Civil Environm & Geomat Engn CH-8093 Zurich Switzerland

The platooning of trucks can be considered to be a potential approach to mitigate some of the negative effects that trucking can have on traffic streams. This paper proposes a cooperative distributed approach for forming/modifying platoons of trucks based on consensus algorithms. In this approach, trucks exchange information about their current status in real time, and the platoon is formed in consecutive iterations. This distributed consensus-based algorithm is compared with a centralized optimization-based algorithm for truck platooning, in which the trucks move with a set of predetermined speeds for a definite amount of time to form a platoon. The two approaches are tested and compared using various scenarios generated based on real data collected on a highway in Basel, Switzerland. Based on the results, the consensus-based algorithm proved to be a more general scheme that is able to form platoons even in cases with large initial separation of trucks. This algorithm is able to handle complex situations using its capability to form partial platoons.

关键词： Truck platooning platoon formation consensus algorithms cooperative approaches

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Distributed consensus over wireless sensor networks affected by multipath fading

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 2008年第8期56卷 4100-4106页

作者： Scutari, Gesualdo Barbarossa, Sergio Univ Roma La Sapienza Dept INFOCOM Piazzale Aldo Moro 5 I-00184 Rome Italy

The design of sensor networks capable of reaching a consensus on a globally optimal decision test, without the need for a fusion center, is a problem that has received considerable attention in the last years. Many consensus algorithms have been proposed, with convergence conditions depending on the graph describing the interaction among the nodes. In most works, the graph is undirected and there are no propagation delays. Only recently, the analysis has been extended to consensus algorithms incorporating propagation delays. In this correspondence, we propose a consensus algorithm able to converge to a globally optimal decision statistic, using a wideband wireless network, governed by a fairly simple MAC mechanism, where each link is a multipath, frequency-selective, channel. The main contribution of the correspondence is to derive necessary and sufficient conditions on the network topology and sufficient conditions on the channel transfer functions guaranteeing the exponential convergence of the consensus algorithm to a globally optimal decision value, for any bounded delay condition.

关键词： consensus algorithms distributed decision multipath fading sensor networks

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