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Consensus-based Control Over Wireless Channels = = Kooperative Konsens-basierte Regelung Von Multi-Agenten-Systemen Uber Funk-Netzwerke.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Consensus-based Control Over Wireless Channels =/
其他題名:	Kooperative Konsens-basierte Regelung Von Multi-Agenten-Systemen Uber Funk-Netzwerke.
其他題名:	Kooperative Konsens-basierte Regelung Von Multi-Agenten-Systemen Uber Funk-Netzwerke.
作者:	Molinari, Fabio.
面頁冊數:	1 online resource (181 pages)
附註:	Source: Dissertations Abstracts International, Volume: 83-11, Section: B.
Contained By:	Dissertations Abstracts International83-11B.
標題:	Robots. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29100397click for full text (PQDT)
ISBN:	9798426882737

Consensus-based Control Over Wireless Channels = = Kooperative Konsens-basierte Regelung Von Multi-Agenten-Systemen Uber Funk-Netzwerke.
Molinari, Fabio.

Consensus-based Control Over Wireless Channels =Kooperative Konsens-basierte Regelung Von Multi-Agenten-Systemen Uber Funk-Netzwerke.Kooperative Konsens-basierte Regelung Von Multi-Agenten-Systemen Uber Funk-Netzwerke. - 1 online resource (181 pages)

Source: Dissertations Abstracts International, Volume: 83-11, Section: B.

Thesis (Ph.D.)--Technische Universitaet Berlin (Germany), 2022.

Includes bibliographical references

Consensus is a useful concept in situations where a group of autonomous agents seek an agreement over a variable of common interest for the whole system. Agents communicate and, based on the information they collect from others, they take individual decisions according to the specific consensus protocol they implement. A consensus protocol that needs less resources for achieving a given result is more efficient. Eﬀiciency in consensus has become a hot topic in research during the last years, mainly due to the rising number of applications that require battery-powered agents. This thesis proposes to increase the eﬀiciency of consensus by exploiting the interference property of the wireless channel. This phenomenon has always been combatted. In fact, signals simultaneously transmitted by multiple agents in the same frequency are attenuated by unknown coeﬀicients and summed up at the receiver. The standard approach is to discard such corrupted received signal, although it carries some useful information. In this thesis, we show that this corrupted signal can be actually used for achieving consensus. Under the assumption of a real-valued fading channel, we propose average consensus and max-consensus protocols that exploit interference. They both exhibit better performance than standard methods in terms of required wireless resources. We show that such protocols can be used for two practical problems, i.e., formation control of nonholonomic robots and distributively solving linear algebraic equations. This confirms the practical benefits of exploiting interference and motivates future experimental implementation.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798426882737Subjects--Topical Terms:

529507
Robots.
Index Terms--Genre/Form:

542853
Electronic books.

Consensus-based Control Over Wireless Channels = = Kooperative Konsens-basierte Regelung Von Multi-Agenten-Systemen Uber Funk-Netzwerke.
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502 $a Thesis (Ph.D.)--Technische Universitaet Berlin (Germany), 2022.
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520 $a Consensus is a useful concept in situations where a group of autonomous agents seek an agreement over a variable of common interest for the whole system. Agents communicate and, based on the information they collect from others, they take individual decisions according to the specific consensus protocol they implement. A consensus protocol that needs less resources for achieving a given result is more efficient. Eﬀiciency in consensus has become a hot topic in research during the last years, mainly due to the rising number of applications that require battery-powered agents. This thesis proposes to increase the eﬀiciency of consensus by exploiting the interference property of the wireless channel. This phenomenon has always been combatted. In fact, signals simultaneously transmitted by multiple agents in the same frequency are attenuated by unknown coeﬀicients and summed up at the receiver. The standard approach is to discard such corrupted received signal, although it carries some useful information. In this thesis, we show that this corrupted signal can be actually used for achieving consensus. Under the assumption of a real-valued fading channel, we propose average consensus and max-consensus protocols that exploit interference. They both exhibit better performance than standard methods in terms of required wireless resources. We show that such protocols can be used for two practical problems, i.e., formation control of nonholonomic robots and distributively solving linear algebraic equations. This confirms the practical benefits of exploiting interference and motivates future experimental implementation.
520 $a Konsens spielt eine bedeutende Rolle in Szenarien in welchen mehrere autonome Agenten versuchen eine Einigung uber eine fur das ganze System wichtige Variable zu erzielen. Die zwei wesentlichen Phasen des Konsens sind Kommunikation und Berechnung, und zwar, aktualisiert jeder Agent seinen Standpunkt (durch ein sogenanntes "Konsensprotokoll"), auf Basis der von anderen Agenten erhaltenen Informationen. Ein Konsensprotokoll ist eﬀizienter je weniger Ressourcen es braucht um ein bestimmtes Ziel zu erreichen. Eﬀizienz des Konsensprotokolls hat in den letzten Jahren viel Aufmerksamkeit erlangt, hauptsachlich wegen des Wachstums der Akku-basierten Anwendungen. Im Rahmen dieser Doktorarbeit wird eine Methode prasentiert um die Eﬀizienz des Konsensprotokolls durch die Ausnutzung der Funkinterferenz zu steigern. Interferenz in Funk-Netzwerken ist ein traditionell bekampftes Phanomen. Die in der gleichen Zeit und Frequenz verbreiteten Signale werden erstens durch unbekannte Faktoren gedampft und dann am Empfanger summiert. Traditionell bewertet man dieses gerauschvolle Signal als unbrauchbar, obwohl es einige Information tragt. Es wird demonstriert wie ein solches Signal benutzt werden kann um Konsens zu erreichen. Unter der Annahme eines reellwertigem fading Funknetz, wird ein Average-Konsens und ein Max-Konsens Protokol prasentiert, welches die Funkinterferenz ausnutzen. Die beiden Methoden zeigen bessere Leistung, im Hinblick auf notige Ressourcen des Funknetz, im Vergleich zu Standardmethoden. In dieser Arbeit werden auch zwei mogliche praktische Implementationen von diesen Methoden gezeigt, und zwar Formationsregelung fur die nicht-nonholonome Roboter und die verteilte Losung von linearen algebraischen Gleichungen. Diese Ergebnisse bestatigen die Vorteile dieser Methode und motivieren kunftige experimentelle Implementierung.
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