Title :
Optimal information propagation in sensor networks
Author :
Yang, Peng ; Freeman, Randy A. ; Lynch, Kevin M.
Author_Institution :
Northwestern Univ., Evanston, IL
Abstract :
This paper studies the effect of communication link weighting schemes and long-range connections in speeding convergence to consensus on the average of the inputs to agents in a sensor network. Linear programming and LMI solutions are provided for the problem of centralized optimization of communication weights considering the possibility of intermittent bounded communication delays. Heuristic weighting schemes that can be implemented in a distributed fashion are also studied. Consensus convergence time may also be reduced by introducing long-range interactions, creating a "small world" network
Keywords :
convergence; distributed sensors; linear matrix inequalities; linear programming; LMI; communication link weighting schemes; linear programming; optimal information propagation; sensor networks; speeding convergence; Assembly systems; Communication networks; Communication system control; Delay; Intelligent networks; Linear programming; Motion control; Motion estimation; Network topology; State estimation;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642176
