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Solving the N-Consensus Problem: Combining Clustering and Synchronization

Gering, Stefan ; Willert, Volker (2023):
Solving the N-Consensus Problem: Combining Clustering and Synchronization. (Publisher's Version)
In: IFAC Proceedings Volumes, 45 (26), pp. 216-221. IFAC - International Federation of Automatic Control, ISSN 1474-6670,
DOI: 10.26083/tuprints-00023317,

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Item Type: Article
Origin: Secondary publication service
Status: Publisher's Version
Title: Solving the N-Consensus Problem: Combining Clustering and Synchronization
Language: English

This article presents a state synchronization method within multi-agent systems upon multiple states. Based on their formation in state space, the agents decide on a clustering and synchronize their states within these clusters. The solution steps for this N-consensus problem, clustering and synchronization, may both be solved entirely in a decentral manner. This is achieved by means of a distributed Variational Bayes to describe the distribution of the agents' positions as a mixture of densities. The entire N-consensus problem is illustrated with graphical probabilistic models whose underlying potential is shown to be maximized when reaching the final N-consensus. An improvement of the overall convergence speed is achieved by a dynamical adaption of the distributed Variational Bayes, which leads to an intertwining of clustering and synchronization.

Journal or Publication Title: IFAC Proceedings Volumes
Volume of the journal: 45
Issue Number: 26
Place of Publication: Darmstadt
Publisher: IFAC - International Federation of Automatic Control
Uncontrolled Keywords: Autonomous mobile robots, consensus, distributed control, probabilistic models
Classification DDC: 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau
Divisions: 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems
Date Deposited: 10 Mar 2023 10:09
Last Modified: 26 May 2023 07:41
DOI: 10.26083/tuprints-00023317
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-233178
Additional Information:

Zugl. Konferenzveröffentlichung: 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, 14.-15.09.2012, Santa Barbara, USA

URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/23317
PPN: 507994248
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