Laplacian-based consensus on spatial computers

8 years 11 months ago
Laplacian-based consensus on spatial computers
Robotic swarms, like all spatial computers, are a challenging environment for the execution of distributed consensus algorithms due to their scale, diameter, and frequent failures. Exact consensus is generally impractical on spatial computers, so we consider approximate consensus algorithms. In this paper, we show that the family of self-organizing protocols based on the graph Laplacian of a network[19] are impractical as well. With respect to the structure of a finiteneighborhood spatial computer, we find that these protocols have an expected convergence time of O(diameter2 ) when the inputs are strongly correlated with location. Verifying this result in simulation, we further determine that the constant factor on the convergence time is high, rendering Laplacian-based approximate consensus unsuitable for general use on spatial computers. Categories and Subject Descriptors
Nelson Elhage, Jacob Beal
Added 08 Nov 2010
Updated 08 Nov 2010
Type Conference
Year 2010
Where ATAL
Authors Nelson Elhage, Jacob Beal
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