Journal Papers

Broadcast and Gossip Stochastic Average Consensus Algorithms in Directed Topologies

Abstract
We address the problem of a set of agents reaching consensus by computing the average of their initial states. We propose two randomized algorithms over a directed communication graph where either a random node broadcast its value or a randomly selected pair of nodes communicate in a distributed fashion. The proposed algorithms guarantee convergence in three important definitions, namely: almost surely, in expectation, and in the mean-square sense. We show how the parameters of the algorithm can be optimized to improve the rate of convergence and compare its rates of convergence for directed and undirected graphs.

Dynamical Systems and Ocean Robotics Lab (DSOR)

Dynamical Systems and Ocean Robotics Lab (DSOR) Logo