Multi-hop relay Protocols for fast consensus seeking

被引：84

作者：

Jin, Zhipu ^{[1
]}

Murray, Richard M. ^{[2
]}

机构：

[1] CALTECH, Dept Elect Engn, Pasadena, CA 91125 USA

[2] CALTECH, Fac Div Engn & Appl Sci, Pasadena, CA 91125 USA

来源：

PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年

关键词：

networked multi-agent systems; consensus protocol; multi-hop relay protocol; distributed algorithms; convergence speed; time delay;

D O I：

10.1109/CDC.2006.377298

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Consensus protocols are distributed algorithms in networked multi-agent systems. Based on the local information, agents automatically converge to a common consensus state and the convergence speed is determined by the algebraic connectivity of the communication network. In order to achieve a fast consensus seeking, we propose the multi-hop relay protocols, where each agent can expand its knowledge by employing multi-hop paths in the network. We demonstrate that multi-hop relay protocols can enlarge the algebraic connectivity without physically changing the network topology. Moreover, communication delays are discussed and a tradeoff is identified between the convergence speed and the time delay sensitivity.

引用

页码：1001 / +

页数：3

共 15 条

[1] Information flow and cooperative control of vehicle formations [J].