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In this paper, we investigate distributed consensus problems for multiple miniature aerial vehicles (MAVs) with nonlinear dynamics and uncertainty. We develop distributed consensus protocol to solve regulation synchronization problem for leaderless MAVs with directed interaction topology. Adaptive control algorithms are used locally for each vehicle to deal with nonlinear dynamics and uncertainty...
A finite-time attitude synchronization problem is considered in this paper where the rotation of each rigid body is expressed using the axis-angle representation. One simple discontinuous and distributed controller using the vectorized signum function is proposed. This controller only involves the sign of the state differences of adjacent neighbors. In order to avoid the singularity introduced by...
Community detection is an advanced graph operation that is used to reveal tightly-knit groups of vertices (aka. communities) in real-world networks. Given the intractability of the problem, efficient heuristics are used in practice. Yet, even the best of these state-of-the-art heuristics can become computationally demanding over large inputs and can generate workloads that exhibit inherent irregularity...
The Consensus Time Synchronization (CTS) overcomes the shortcoming of centralized time synchronization in terms of scalability and robustness to node failure. However, CTS leads to slow convergence rate, high communication traffic and the inability to provide synchronization to an external time source. This paper proposes a novel distributed time synchronization protocol for WSNs, the Consensus-based...
Whereas mechanisms of consensus in networks have been thoroughly studied, many multi-agent systems, arising in nature and industry, exhibit disagreement, as exemplified by cleavage of opinions in social groups (instead of an agreement on some value) or uniform spread of mobile agents over some area (instead of their rendezvous at some point). A special case of disagreement, where the solutions split...
Time synchronization is one of the key technologies in Industrial Wireless Sensor Networks (IWSNs). Considering the demand of low energy consumption, fast convergence and robustness for IWSNs, this paper presents a novel Cluster-based Maximum consensus Time Synchronization method. Based on the theory of distributed consensus, the method utilizes the maximum consensus approach to realize the intra-...
This paper analyzes and evaluates the Distributed Node Consensus Protocol (DNCP), a state synchronization mechanism developed by the IETF Homenet working group. DNCP enables network function automation for home networks, which are growing in size and complexity. The basic mechanisms of DNCP are studied in this paper, including the state abstraction, synchronization process and keep-alive mechanism...
In Wireless Ad Hoc Networks, synchronization is a prerequisite to many basic operations such as frequency hopping, power saving, free contention channel access, clustering and security. Clock synchronization requires the availability of a common time reference for all mobile nodes. However, a synchronization algorithm cannot converge quickly to a stable point without considering the effects of collisions...
This paper describes a novel distributed observer algorithm which uses augmented sliding mode control element for time synchronisation purpose in a wireless sensor networks (WSN). Time synchronisation is a prevalent and an important issue in the field of WSN. Local clocks on each nodes within any interconnected WSN should have exchanged messages with a common time reference. Referencing to a distinct(unsynchronised)...
This paper studies Average TimeSync (ATS) - a time synchronization protocol for wireless sensor networks. In the ideal delay-free condition, the ATS protocol is proved convergent. However, any time synchronization algorithm used in practice is inevitably accompanied by the existence of time delays. This paper studies if the ATS protocol could keep convergent with a bounded steady error under bounded...
Existed works on consensus in networks have been focused on reaching an agreement among states of nodes in a network. In this work, we propose a discrete-time edge consensus protocol for complex networks. By mapping the edge topology into a corresponding line graph, we prove that consensus can be achieved among the states of all edges in a connected network. Theoretical analysis and simulation results...
This paper solves the problem of time synchronization in wireless sensor networks (WSNs) with noise. The consensus based approach is an improved average value based protocol. This algorithm, compared with the existing consensus-based synchronization approach, has the advantage of being totally distributed, asynchronous and robust to process and measurement noise. The main idea of this algorithm is...
This paper investigates the clock synchronization problem for Device-to-Device (D2D) communication without infrastructure. Employing affine models for local clocks, it is proposed a random broadcast based distributed consensus clock synchronization algorithm. In the absence of transmission delays, we theoretically prove the convergence of the proposed scheme, which is further illustrated by the numerical...
Recently, various consensus-based protocols have been developed for time synchronization in wireless sensor networks. However, due to the uncertainties lying in both the hardware fabrication and network communication process, it is not clear how most of the protocols will perform in real implementations. In order to reduce such gap, this paper investigates whether and how the typical consensus-based...
This paper examines synchronization of computer clocks connected via a data network and proposes a skewless algorithm to synchronize them. Unlike existing solutions, which either estimate and compensate the frequency difference (skew) among clocks or introduce offset corrections that can generate jitter and possibly even backward jumps, our algorithm achieves synchronization without these problems...
A two-way message exchange mechanism is at the core of many clock synchronization protocols. The basic concept of this method has been designed for symmetrical links, otherwise, depending on the level of asymmetric delays, large synchronization errors may occur. Many estimation based methods have been proposed so far for estimating the degree of asymmetry and reducing this error. However, many of...
This paper is concerned with the synchronization problem of networked harmonic oscillators in undirected networks with communication delays and controller failures. It is assumed that each oscillator updates its state based on the sampled velocity information relative to its neighbors at discrete moments. A distributed algorithm is proposed in virtue of time driven digital samplers and controllers...
Gossiping is a well-known approach to the distributed averaging problem whose purpose is to enable the members of a group of autonomous agents to iteratively determine the average of their initial scalar-valued gossip variables by allowing each agent to interchange information with at most one neighbor at each iterative step. In prior work we presented a deterministic request-based gossiping protocol...
In this paper a randomized linear protocol for time synchronization of clocks in a multi-agent scenario is considered. Clocks are allowed to have different offsets and different rates, and they communicate through an asymmetric broadcast protocol. The contribution of this paper is twofold. It is first shown that, under very mild conditions on the communication graph, it is possible to tune a protocol...
This paper deals with the problem of clock synchronization in WSN. Clocks are modeled as non-identical double integrators with uncertain zeros and outputs corresponding to their time-readings. Synchronization is achieved through a control strategy based on second order linear consensus-like algorithm, and its robustness with the respect to the uncertainties on the clocks' dynamics is studied resorting...
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