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Consensus on homogeneous manifolds

Sarlette, A and Sepulchre, R (2009) Consensus on homogeneous manifolds. In: UNSPECIFIED pp. 6438-6443..

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Abstract

The present paper considers distributed consensus algorithms for agents evolving on a connected compact homogeneous (CCH) manifold. The agents track no external reference and communicate their relative state according to an interconnection graph. The paper first formalizes the consensus problem for synchronization (i.e. maximizing the consensus) and balancing (i.e. minimizing the consensus); it thereby introduces the induced arithmetic mean, an easily computable mean position on CCH manifolds. Then it proposes and analyzes various consensus algorithms on manifolds: natural gradient algorithms which reach local consensus equilibria; an adaptation using auxiliary variables for almost-global synchronization or balancing; and a stochastic gossip setting for global synchronization. It closes by investigating the dependence of synchronization properties on the attraction function between interacting agents on the circle. The theory is also illustrated on SO(n) and on the Grassmann manifolds. ©2009 IEEE.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:46
Last Modified: 08 Dec 2014 02:18
DOI: 10.1109/CDC.2009.5400259