Discrete-time average-consensus under switching network topologies

This paper develops a distributed algorithm for average-consensus in a discrete-time framework based on a formal matrix limit definition of average-consensus. Using this algorithm, the average-consensus problem is solved under switching network topologies provided that the network switch between ins...

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Bibliographic Details
Published in2006 American Control Conference p. 6 pp.
Main Authors Kingston, D.B., Beard, R.W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2006
Subjects
Autonomous agents
Distributed algorithms
Joining processes
Network topology
Protocols
Switches
Terminology
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Summary:This paper develops a distributed algorithm for average-consensus in a discrete-time framework based on a formal matrix limit definition of average-consensus. Using this algorithm, the average-consensus problem is solved under switching network topologies provided that the network switch between instantaneously balanced, connected-over-time networks. In other words, if at each instant the network is balanced and the union of graphs over every interval T is connected, then average-consensus can be achieved. An interesting product of this analysis is the notion of "deadbeat" consensus where a system of agents achieves consensus (average or otherwise) in finite time rather than asymptotically
ISBN:9781424402090
1424402093
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2006.1657268