A scheme for robust distributed sensor fusion based on average consensus
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Distributed average consensus with least-mean-square deviation
Journal of Parallel and Distributed Computing
IEEE Transactions on Signal Processing
Consensus over networks with dynamic channels
International Journal of Systems, Control and Communications
Stochastic consensus over noisy networks with Markovian and arbitrary switches
Automatica (Journal of IFAC)
IEEE Transactions on Information Theory
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In this paper, we consider a simple distributed averaging system, which incorporates various communication constraints including delays, noise, and link failures. It has been shown in Wang and Elia (2012) that such networked system generates a collective Levy flight behavior when part of the system loses mean square (MS) stability. We focus on spatially invariant architectures to gain more insights into how model parameters affect emergence of this complex scale-invariant behavior, and to seek structures robust to communication constraints. Specifically, we develop a computational expression for checking MS stability, which is scalable with the number of unreliable links. We derive the closed form formulas from this expression in the limiting case of zero and large delays, and in the case of large number of nodes. In the limit of large delays, we derive various results that are independent of the network size and its specific interconnections. We find that small inter-agent coupling improves the robustness of the system. Networks with larger connectivity tend to be more fragile in the presence of fading connections for fixed inter-agent coupling. That gossiping improves the robustness and that the lattice is the most robust among the spatially invariant systems with generalized circulant interconnections.