Information broadcasting algorithm for finite-time reaching-at-risk consensus with application to weapon-target assignment

Authors:
N. Léchevin;C. A. Rabbath;Y. Zhang
Affiliations:
Numerica Technologies, Inc., Québec, QC, Canada, and Dpt of MIE, Concordia University, Montréal, QC, Canada;DRDC Valcartier, Québec, QC, Canada;Dpt of MIE, Concordia University, Montréal, QC, Canada
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

We propose a randomized algorithm aimed at reaching, in finite time, exact consensus among a set of agents that are linked though a connected, possibly time-varying, graph. The information exchanged among neighboring agents is limited in size, by randomly selecting the content from an agent internal state. The time needed to reach the agreement is a random variable, whose empirical cumulative distribution function is utilized to determine a stopping rule that ensures consensus is achieved with a prescribed confidence level. Simulation results show that the consensus-reaching time obtained with a prescribed confidence level compares relatively well to local-averaging-based algorithms. The algorithm is shown to be robust, to some extent, to lossy communications and is demonstrated on a weapon-target assignment problem.