In network average consensus problems, a failure, in which a node cannot provide the initial value, but can communicate with its neighbors gives rise to the bridge consensus problem. In its formulation, the failed node serves as a bridge which maintains the network communication connectivity, and its failure to provide the value does not impact the capability of the rest of the network nodes to reach a consensus. The proposed bridge consensus solution can deal with multiple failing nodes and large networks in a scalable manner. The solution properties are proven and illustrated by a numerical example.
- Dynamic Systems and Control Division
Average Bridge Consensus: Dealing With Active-Passive Sensors
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Casbeer, DW, Cao, Y, Garcia, E, & Milutinović, D. "Average Bridge Consensus: Dealing With Active-Passive Sensors." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T37A005. ASME. https://doi.org/10.1115/DSCC2015-9656
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