Agreement over random networks

Hatano, Yuko; Mesbahi, Mehran

doi:10.1109/tac.2005.858670

Cited by 470 publications

(161 citation statements)

References 21 publications

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“…The community of control theory has intensively studied the problem of consensus achievement (Mesbahi and Egerstedt, 2010) with the objective of deriving optimal control strategies and proves their stability. In addition to flocking and tracking (Savkin and Teimoori, 2010;Cao and Ren, 2012), the consensus achievement problems studied in control theory include formation control (Ren et al, 2005), agreement on state variables (Hatano and Mesbahi, 2005), sensor fusion (Ren and Beard, 2008), as well as the selection of motion trajectories (Sartoretti et al, 2014). Continuous consensus achievement problems have been also studied in the context of wireless sensor networks with the aim of developing algorithms for distributed estimation of signals (Schizas et al, 2008a,b).…”

Section: Context Of the Surveymentioning

confidence: 99%

The Best-of-n Problem in Robot Swarms: Formalization, State of the Art, and Novel Perspectives

2017

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The ability to collectively choose the best among a finite set of alternatives is a fundamental cognitive skill for robot swarms. In this paper, we propose a formal definition of the best-of-n problem and a taxonomy that details its possible variants. Based on this taxonomy, we analyze the swarm robotics literature focusing on the decision-making problem dealt with by the swarm. We find that, so far, the literature has primarily focused on certain variants of the best-of-n problem, while other variants have been the subject of only a few isolated studies. Additionally, we consider a second taxonomy about the design methodologies used to develop collective decision-making strategies. Based on this second taxonomy, we provide an in-depth survey of the literature that details the strategies proposed so far and discusses the advantages and disadvantages of current design methodologies.

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Section: Context Of the Surveymentioning

confidence: 99%

The Best-of-n Problem in Robot Swarms: Formalization, State of the Art, and Novel Perspectives

2017

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“…In contrast, the set of neighbours depends on the individual heading and position for the problem at hand. Analytical studies on the convergence of opinion dynamics protocols can be found for example in Bertekas & Tsitsiklis (1989), Hatano & Mesbahi (2005), Porfiri & Stilwell (2007) and Ren & Beard (2008).…”

Section: Shoal Dynamicsmentioning

confidence: 99%

Fish in a ring: spatio-temporal pattern formation in one-dimensional animal groups

Abaid

Porfiri

2010

J. R. Soc. Interface.

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In this work, we study the collective behaviour of fish shoals in annular domains. Shoal mates are modelled as self-propelled particles moving on a discrete lattice. Collective decisionmaking is determined by information exchange among neighbours. Neighbourhoods are specified using the perceptual limit and numerosity of fish. Fish self-propulsion and obedience to group decisions are described through random variables. Spatio-temporal schooling patterns are measured using coarse observables adapted from the literature on coupled oscillator networks and features of the time-varying network describing the fish-to-fish information exchange. Experiments on zebrafish schooling in an annular tank are used to validate the model. Effects of group size and obedience parameter on coarse observables and network features are explored to understand the implications of perceptual numerosity and spatial density on fish schooling. The proposed model is also compared with a more traditional metric model, in which the numerosity constraint is released and fish interactions depend only on physical configurations. Comparison shows that the topological regime on which the proposed model is constructed allows for interpreting characteristic behaviours observed in the experimental study that are not captured by the metric model.

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“…m i and n i are obtained and droop control curves are reconstructed. The methods for calculating the variation of droop gains have been given in [34] and the relevant conclusions of eigenvalue analysis have existed, so it is not covered here. Thus, accurate power sharing is always realized, and voltage amplitude and frequency are always kept at nominal values.…”

Section: Improved Droop Control Strategymentioning

confidence: 99%

An Improved Droop Control Strategy for Low-Voltage Microgrids Based on Distributed Secondary Power Optimization Control

Zhao²,

et al. 2017

Energies

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To achieve accurate reactive power sharing and voltage frequency and amplitude restoration in low-voltage microgrids, a control strategy combining an improved droop control with distributed secondary power optimization control is proposed. The active and reactive power that each distributed generator (DG) shares is calculated by extracting load information and utilizing a power sharing ratio, and is reset to be the nominal power to recalculate droop gains. The droop control curves are reconstructed according to the nominal active and reactive power and the recalculated droop gains. The reconstructed active power-frequency droop control can regulate active power adaptively and keep frequency at a nominal value. Meanwhile, the reconstructed reactive power voltage droop control can reduce voltage amplitude deviation to a certain extent. A distributed secondary power optimization control is added to the reconstructed reactive power voltage droop control by using average system voltage. The average system voltage is obtained by using a consensus algorithm in a distributed, sparse communication network which is constituted by all controllers of DGs. As a result, accurate reactive power sharing is realized, average system voltage is kept at a nominal value, and all voltage amplitude deviations are further reduced. Due to the absence of a microgrid central controller, the reliability of the strategy is enhanced. Finally, the simulation results validate the proposed method.

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Agreement over random networks

Cited by 470 publications

References 21 publications

The Best-of-n Problem in Robot Swarms: Formalization, State of the Art, and Novel Perspectives

The Best-of-n Problem in Robot Swarms: Formalization, State of the Art, and Novel Perspectives

Fish in a ring: spatio-temporal pattern formation in one-dimensional animal groups

An Improved Droop Control Strategy for Low-Voltage Microgrids Based on Distributed Secondary Power Optimization Control

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