View source for Multi-Hop Relay Protocols for Fast Consensus Seeking

{{HTDB paper
| authors = Zhipu Jin, Richard M. Murray
| title = Multi-Hop Relay Protocols for Fast Consensus Seeking
| source = Submitted, 2006 Conference on Decision and Control
| year = 2006
| type = Conference Paper
| funding = AFOSR/coop
| url = http://www.cds.caltech.edu/~murray/preprints/jm06-cdc.pdf
| abstract = 
Consensus protocols in coordinated multi-agent systems are
distributed algorithms. Just using local information
available to each single agent, all agents converge to an
identical consensus state and the convergence speed is
determined by the algebraic connectivity of the
communication network. In order to achieve a faster
consensus seeking, we propose multi-hop relay protocols
based on the current ``nearest neighbor rules'' consensus
protocols. By employing multiple-hop paths in the network,
more information is passed around and each agent enlarges
its "available" neighborhood. We demonstrate that these
relay protocols can increase the algebraic connectivity
without physically adding or changing any communication
links. Moreover, time delay sensitivity of relay protocols
are discussed in detail. We point out that a trade off
exists between convergence performance and time delay
robustness. Simulation results are also provided to verify
the efficiency of relay protocols.
| flags = 
| tag = jm06-cdc
| id = 2006d
}}