Multi-Hop Relay Protocols for Fast Consensus Seeking
- Creators
- Jin, Zhipu
-
Murray, Richard M.
Abstract
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.
Additional Information
© 2006 IEEE. Issue Date: 13-15 Dec. 2006, Date of Current Version: 07 May 2007. The authors would like to thank Prof. Reza Olfati-Saber, from Dartmouth College, for the fruitful discussions. This research is partly supported by AFOSR grant FA9550−04−1−0169.Attached Files
Published - Jin2006p9074Proceedings_Of_The_46Th_Ieee_Conference_On_Decision_And_Control_Vols_1-14.pdf
Files
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Additional details
- Eprint ID
- 22508
- Resolver ID
- CaltechAUTHORS:20110225-084451186
- Air Force Office of Scientific Research (AFOSR)
- FA9550-04-1-0169
- Created
-
2011-02-25Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Series Name
- IEEE Conference on Decision and Control
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 9430511