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ATAL
2015
Springer

Pipelined Consensus for Global State Estimation in Multi-Agent Systems

4 years 3 months ago
Pipelined Consensus for Global State Estimation in Multi-Agent Systems
This paper presents pipelined consensus, an extension of pair-wise gossip-based consensus, for multi-agent systems using mesh networks. Each agent starts a new consensus in each round of gossiping, and stores the intermediate results for the previous k consensus in a pipeline message. After k rounds of gossiping, the results of the first consensus are ready. The pipeline keeps each consensus independent, so any errors only persist for k rounds. This makes pipelined consensus robust to many real-world problems that other algorithms cannot handle, including message loss, changes in network topology, sensor variance, and changes in agent population. The algorithm is fully distributed and self-stabilizing, and uses a communication message of fixed size. We demonstrate the efficiency of pipelined consensus in two scenarios: computing mean sensor values in a distributed sensor network, and computing a centroid estimate in a multi-robot system. We provide extensive simulation results, and...
Golnaz Habibi, Zachary Kingston, Zijian Wang, Mac
Added 16 Apr 2016
Updated 16 Apr 2016
Type Journal
Year 2015
Where ATAL
Authors Golnaz Habibi, Zachary Kingston, Zijian Wang, Mac Schwager, James McLurkin
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