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Multi-Hop Relay Protocols for Fast Consensus Seeking

Jin, Zhipu and Murray, Richard M. (2006) Multi-Hop Relay Protocols for Fast Consensus Seeking. In: Proceedings of the 45th IEEE Conference on Decision and Control. IEEE Conference on Decision and Control. IEEE , Piscataway, N.J., pp. 1001-1006. ISBN 1-4244-0171-2.

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Consensus protocols are distributed algorithms in networked multi-agent systems. Based on the local information, agents automatically converge to a common consensus state and the convergence speed is determined by the algebraic connectivity of the communication network. In order to achieve a fast consensus seeking, we propose the multi-hop relay protocols, where each agent can expand its knowledge by employing multi-hop paths in the network.We demonstrate that multi-hop relay protocols can enlarge the algebraic connectivity without physically changing the network topology. Moreover, communication delays are discussed and a tradeoff is identified between the convergence speed and the time delay sensitivity.

Item Type:Book Section
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2006 IEEE. Issue Date: 13-15 Dec. 2006, Date of Current Version: 07 May 2007. The authors would like to thank Prof. Reza Olfati-Saber, from Dartmouth College, for the fruitful discussions. This research is partly supported by AFOSR grant FA9550−04−1−0169.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-04-1-0169
Subject Keywords:Networked multi-agent systems, consensus protocol, multi-hop relay protocol, distributed algorithms, convergence speed, time delay
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INSPEC Accession Number9430511
Series Name:IEEE Conference on Decision and Control
Record Number:CaltechAUTHORS:20110225-084451186
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Official Citation:Zhipu Jin; Murray, R.M.; , "Multi-Hop Relay Protocols for Fast Consensus Seeking," Decision and Control, 2006 45th IEEE Conference on , vol., no., pp.1001-1006, 13-15 Dec. 2006 doi: 10.1109/CDC.2006.377298 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:22508
Deposited By: Benjamin Perez
Deposited On:25 Feb 2011 18:07
Last Modified:09 Nov 2021 16:05

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