Paper Info
Title
Asynchronous Implementation Of A Distributed Average Consensus Algorithm
Abstract
This paper discusses distributed average consensus in the context of a distributed embedded system with multiple agents connected through a communication network. Adversities such as switching of network topologies, agents joining or leaving the network, and communication link creation or failure may arise in these systems. To address these difficulties, we propose an asynchronous implementation of a distributed average consensus algorithm that has the following properties: (1) unbiased average, (2) homogeneous implementation, (3) robustness to network adversities, (4) dynamic consensus, and (5) well-defined tuning parameters. We demonstrate an application of the implementation on a specific distributed embedded system, the Distributed Flight Array, where we solve two average consensus problems to estimate altitude and tilt of the vehicle from multiple distance measurements.
Year
DOI
Venue
2013
10.3929/ethz-a-007563131
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Keywords
Field
DocType
embedded systems,distributed algorithms,mobile robots,robust control
Asynchronous communication,Average consensus,Telecommunications network,Computer science,Algorithm,Network topology,Control engineering,Robustness (computer science),Distributed algorithm,Robust control,Mobile robot,Distributed computing
Conference
ISSN
Citations 
PageRank 
2153-0858
4
0.48
References 
Authors
11
3
Name
Order
Citations
PageRank
Maximilian Kriegleder180.86
Raymond Oung2364.11
Raffaello D'andrea31592162.96