Conference proceeding
Laplacian-based consensus on spatial computers
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1, pp.907-914
ACM Other Conferences
AAMAS '10: The Ninth International Conference on Autonomous Agents and Multiagent Systems
05/10/2010
DOI: 10.5555/1838206.1838328
Abstract
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 finite-neighborhood 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.
Details
- Title: Subtitle
- Laplacian-based consensus on spatial computers
- Creators
- Nelson Elhage - IIT@MITJacob Beal - BBN Technologies, Cambridge, MA
- Resource Type
- Conference proceeding
- Publication Details
- Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1, pp.907-914
- Conference
- AAMAS '10: The Ninth International Conference on Autonomous Agents and Multiagent Systems
- Publisher
- International Foundation for Autonomous Agents and Multiagent Systems
- Series
- ACM Other Conferences
- DOI
- 10.5555/1838206.1838328
- Language
- English
- Date published
- 05/10/2010
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984627182802771
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