Abstract:
The consensus or agreement problem enables a team of agents to agree on certain information variables using a low-bandwidth, dynamic, and sparsely-connected graph. How ev...Show MoreMetadata
Abstract:
The consensus or agreement problem enables a team of agents to agree on certain information variables using a low-bandwidth, dynamic, and sparsely-connected graph. How ever, most prior work on agreement protocols has focused on converging to a single, static variable. In this paper, we propose a consensus filter that accepts dynamically changing inputs at each agent. We analyze several properties of this consensus filter, proving the outputs of the filter converge to a low-pass filtered version of the average of the inputs. Disagreement portions of the inputs can be significantly attenuated through judicious selection of filter parameters.
Published in: Proceedings of the 2011 American Control Conference
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
ISBN Information: