Distributed algorithm

About: Distributed algorithm is a research topic. Over the lifetime, 20416 publications have been published within this topic receiving 548109 citations.

A distributed consensus protocol for clock synchronization in wireless sensor network

Abstract: This paper describes a novel consensus-based protocol, referred as Average TimeSync (ATS), for synchronizing a wireless sensor. This algorithm is based on a class of popular distributed algorithms known as consensus, agreement, gossip or rendezvous whose main idea is averaging local information. The proposed algorithm has three main features. Firstly, it is fully distributed and therefore robust to node failure and to new node appearance. Secondly, it compensates for clock skew differences among nodes, thus maintaining the network synchronized for longer periods than using simple clock offset compensation. Finally, it is computationally lite as it involves only simple sum/product operations. The algorithm has been implemented and preliminary experimental results are provided.

Distributed maximum a posteriori estimation for multi-robot cooperative localization

Abstract: This paper presents a distributed Maximum A Posteriori (MAP) estimator for multi-robot Cooperative Localization (CL). As opposed to centralized MAP-based CL, the proposed algorithm reduces the memory and processing requirements by distributing data and computations amongst the robots. Specifically, a distributed data-allocation scheme is presented that enables robots to simultaneously process and update their local data. Additionally, a distributed Conjugate Gradient algorithm is employed that reduces the cost of computing the MAP estimates, while utilizing all available resources in the team and increasing robustness to single-point failures. Finally, a computationally efficient distributed marginalization of past robot poses is introduced for limiting the size of the optimization problem. The communication and computational complexity of the proposed algorithm is described in detail, while extensive simulation studies are presented for validating the performance of the distributed MAP estimator and comparing its accuracy to that of existing approaches.

Distributed scheduling of broadcasts in a radio network

Abstract: A distributed algorithm is presented for obtaining an efficient and conflict-free broadcasting schedule in a multi-hop packet radio network. The inherent broadcast nature of the radio channel enables a node's transmission to be received by all other nodes within range. Multiple transmissions can be scheduled simultaneously because of the multi-hop nature of the network. It is first shown that the construction of a broadcasting schedule of minimum length is NP-complete, and then a centralized algorithm based on a sequential graph-coloring heuristic is presented to construct minimal-length schedules. A distributed implementation of this algorithm is then proposed, which is based on circulating a token through the nodes in the network. >

Joint Mobile Data Gathering and Energy Provisioning in Wireless Rechargeable Sensor Networks

Abstract: The emerging wireless energy transfer technology enables charging sensor batteries in a wireless sensor network (WSN) and maintaining perpetual operation of the network. Recent breakthrough in this area has opened up a new dimension to the design of sensor network protocols. In the meanwhile, mobile data gathering has been considered as an efficient alternative to data relaying in WSNs. However, time variation of recharging rates in wireless rechargeable sensor networks imposes a great challenge in obtaining an optimal data gathering strategy. In this paper, we propose a framework of joint wireless energy replenishment and anchor-point based mobile data gathering (WerMDG) in WSNs by considering various sources of energy consumption and time-varying nature of energy replenishment. To that end, we first determine the anchor point selection strategy and the sequence to visit the anchor points. We then formulate the WerMDG problem into a network utility maximization problem which is constrained by flow, energy balance, link and battery capacity and the bounded sojourn time of the mobile collector. Furthermore, we present a distributed algorithm composed of cross-layer data control, scheduling and routing subalgorithms for each sensor node, and sojourn time allocation subalgorithm for the mobile collector at different anchor points. We also provide the convergence analysis of these subalgorithms. Finally, we implement the WerMDG algorithm in a distributed manner in the NS-2 simulator and give extensive numerical results to verify the convergence of the proposed algorithm and the impact of utility weight, link capacity and recharging rate on network performance.

Consensus Optimization on Manifolds

Abstract: The present paper considers distributed consensus algorithms that involve $N$ agents evolving on a connected compact homogeneous manifold. The agents track no external reference and communicate their relative state according to a communication graph. The consensus problem is formulated in terms of the extrema of a cost function. This leads to efficient gradient algorithms to synchronize (i.e., maximizing the consensus) or balance (i.e., minimizing the consensus) the agents; a convenient adaptation of the gradient algorithms is used when the communication graph is directed and time-varying. The cost function is linked to a specific centroid definition on manifolds, introduced here as the induced arithmetic mean, that is easily computable in closed form and may be of independent interest for a number of manifolds. The special orthogonal group $SO(n)$ and the Grassmann manifold $\text{{\it Grass\/}}(p,n)$ are treated as original examples. A link is also drawn with the many existing results on the circle.