Many problems in distributed control reduce to the distributed computation of the average of initial values in a networked system of autonomous agents, known as the average consensus problem. We present a randomized algorithm that solves this problem in networks with directed, time-varying communication topologies, in linear time in the size of the network. This algorithm leverages properties of exponential random variables, which allows for approximating sums by computing minima. It is completely decentralized, in the sense that it does not rely on agent identifiers or global information of any kind. Besides, the agents do not need to know their out-degree; hence, our algorithm demonstrates how randomization can be used to circumvent the impossibility result established in [1]. Using a logarithmic rounding rule, we show that this algorithm can be used under the additional constraints of finite memory and channel capacity. We furthermore extend the algorithm with a termination test, by which the agents can decide irrevocably in finite time — rather than simply converge — on an estimate of the average.
Another way to circumvent the impossibility result in @cite_37 consists in assuming unique agent identifiers: by tagging each initial value @math with @math 's identifier, at each step of the algorithm, the agents can compute the average of the input values that they have heard of so far, and thus compute the global average @math after @math communication steps when the topology is continuously strongly connected. Unfortunately, the price to pay in this simple average consensus algorithm is messages of size in @math bits. By repeated leader election on the basis of agent identifiers and a shared bound on the network diameter, the quadratic time algorithm in @cite_42 also achieves average consensus, using message and memory size in only @math bits with a fixed, strongly connected network.
@cite_37 @cite_42
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This paper considers the basic PULL model of communication, in which in each round, each agent extracts information from few randomly chosen agents. We seek to identify the smallest amount of information revealed in each interaction (message size) that nevertheless allows for efficient and robust computations of fundamental information dissemination tasks. We focus on the Majority Bit Dissemination problem that considers a population of n agents, with a designated subset of source agents. Each source agent holds an input bit and each agent holds an output bit. The goal is to let all agents converge their output bits on the most frequent input bit of the sources (the majority bit). Note that the particular case of a single source agent corresponds to the classical problem of Broadcast (also termed Rumor Spreading). We concentrate on the severe fault-tolerant context of self-stabilization, in which a correct configuration must be reached eventually, despite all agents starting the execution with arbitrary initial states. In particular, the specification of who is a source and what is its initial input bit may be set by an adversary. We first design a general compiler which can essentially transform any self-stabilizing algorithm with a certain property (called "the bitwise-independence property") that uses l-bits messages to one that uses only log l-bits messages, while paying only a small penalty in the running time. By applying this compiler recursively we then obtain a self-stabilizing Clock Synchronization protocol, in which agents synchronize their clocks modulo some given integer T, within O(log n log T) rounds w.h.p., and using messages that contain 3 bits only. We then employ the new Clock Synchronization tool to obtain a self-stabilizing Majority Bit Dissemination protocol which converges in O(log n) time, w.h.p., on every initial configuration, provided that the ratio of sources supporting the minority opinion is bounded away from half. Moreover, this protocol also uses only 3 bits per interaction. Two mobile agents starting at different nodes of an unknown network have to meet. This task is known in the literature as rendezvous. Each agent has a different label which is a positive integer known to it, but unknown to the other agent. Agents move in an asynchronous way: the speed of agents may vary and is controlled by an adversary. The cost of a rendezvous algorithm is the total number of edge traversals by both agents until their meeting. The only previous deterministic algorithm solving this problem has cost exponential in the size of the graph and in the larger label. In this paper we present a deterministic rendezvous algorithm with cost polynomial in the size of the graph and in the length of the smaller label. Hence we decrease the cost exponentially in the size of the graph and doubly exponentially in the labels of agents. As an application of our rendezvous algorithm we solve several fundamental problems involving teams of unknown size larger than 1 of labeled agents moving asynchronously in unknown networks. Among them are the following problems: team size, in which every agent has to find the total number of agents, leader election, in which all agents have to output the label of a single agent, perfect renaming in which all agents have to adopt new different labels from the set 1,...,k , where k is the number of agents, and gossiping, in which each agent has initially a piece of information (value) and all agents have to output all the values. Using our rendezvous algorithm we solve all these problems at cost polynomial in the size of the graph and in the smallest length of all labels of participating agents. Various randomized consensus algorithms have been proposed in the literature. In some case randomness is due to the choice of a randomized network communication protocol. In other cases, randomness is simply caused by the potential unpredictability of the environment in which the distributed consensus algorithm is implemented. Conditions ensuring the convergence of these algorithms have already been proposed in the literature. As far as the rate of convergence of such algorithms, two approaches can be proposed. One is based on a mean square analysis, while a second is based on the concept of Lyapunov exponent. In this paper, by some concentration results, we prove that the mean square convergence analysis is the right approach when the number of agents is large. Differently from the existing literature, in this paper we do not stick to average preserving algorithms. Instead, we allow to reach consensus at a point which may differ from the average of the initial states. The advantage of such algorithms is that they do not require bidirectional communication among agents and thus they apply to more general contexts. Moreover, in many important contexts it is possible to prove that the displacement from the initial average tends to zero, when the number of agents goes to infinity. We consider a new problem in multiterminal source coding motivated by the following decentralized communication estimation task. A firm's Chief Executive Officer (CEO) is interested in the data sequence X(t) sub t=1 sup spl infin which cannot be observed directly, perhaps because it represents tactical decisions by a competing firm. The CEO deploys a team of L agents who observe independently corrupted versions of X(t) sub t=1 sup spl infin . Because X(t) is only one among many pressing matters to which the CEO must attend, the combined data rate at which the agents may communicate information about their observations to the CEO is limited to, say, R bits per second. If the agents were permitted to confer and pool their data, then in the limit as L spl rarr spl infin they usually would be able to smooth out their independent observation noises entirely. Then they could use their R bits per second to provide the CEO with a representation of X(t) with fidelity D(R), where D( spl middot ) is the distortion-rate function of X(t) . In particular, with such data pooling D can be made arbitrarily small if R exceeds the entropy rate H of X(t) . Suppose, however, that the agents are not permitted to convene, Agent i having to send data based solely on his own noisy observations Y sub i (t) . We show that then there does not exist a finite value of R for which even infinitely many agents can make D arbitrarily small. Furthermore, in this isolated-agents case we determine the asymptotic behavior of the minimal error frequency in the limit as L and then R tend to infinity.