Title :
Stochastic Consensus Seeking With Noisy and Directed Inter-Agent Communication: Fixed and Randomly Varying Topologies
Author :
Huang, Minyi ; Manton, Jonathan H.
Author_Institution :
Sch. of Math. & Stat., Carleton Univ., Ottawa, ON, Canada
Abstract :
We consider consensus seeking of networked agents on directed graphs where each agent has only noisy measurements of its neighbors´ states. Stochastic approximation type algorithms are employed so that the individual states converge both in mean square and almost surely to the same limit. We further generalize the algorithm to networks with random link failures and prove convergence results.
Keywords :
convergence of numerical methods; directed graphs; mean square error methods; multi-agent systems; stochastic processes; telecommunication control; telecommunication links; directed graphs; directed inter-agent communication; fixed varying topologies; mean square; networked agents; noisy inter-agent communication; random link failures; randomly varying topologies; stochastic approximation type algorithms; stochastic consensus seeking; Algorithm design and analysis; Approximation algorithms; Bidirectional control; Communication system control; Control systems; Convergence; Distributed computing; Iterative methods; Linear matrix inequalities; Multiagent systems; Network topology; Noise measurement; Quantization; Stability; Stochastic processes; Stochastic resonance; Topology; Consensus problems; directed graphs; measurement noise; random link failure; stochastic approximation;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2036291
