TY - JOUR
T1 - Tutorial on Dynamic Average Consensus
T2 - The Problem, Its Applications, and the Algorithms
AU - Kia, Solmaz S.
AU - Van Scoy, Bryan
AU - Cortes, Jorge
AU - Freeman, Randy A.
AU - Lynch, Kevin M.
AU - Martinez, Sonia
N1 - Funding Information:
The work of S.S. Kia was supported by National Science Foundation awards ECCS-1653838 and IIS-SAS-1724331.
Funding Information:
The work of J. Cortés was supported by NSF award CNS-1446891 and Air Force Office of Scientific Research award FA9550-15-1-0108. The work of S. Martinez was supported by the Air Force Office of Scientific Research award FA9550-18-1-0158 and Defense Advanced Research Projects Agency (Lagrange) award N66001-18-2-4027.
Funding Information:
Solmaz S. Kia (solmaz@uci.edu) is an assistant professor of mechanical and aerospace engineering at the University of California, Irvine (UCI). She received the Ph.D. degree in mechanical and aerospace engineering from UCI in 2009 and the M.Sc. and B.Sc. degrees in aerospace engineering from the Sharif University of Technology, Tehran, Iran, in 2004 and 2001, respectively. She was a senior research engineer at SySense Inc., El Segundo, California, from June 2009 to September 2010. She held postdoctoral positions in the Department of Mechanical and Aerospace Engineering at the University of California, San Diego, and UCI. She was a recipient of the University of California President’s Postdoctoral Fellowship from 2012 to 2014 and National Science Foundation CAREER Award in 2017. Her main research interests, in a broad sense, include distributed optimization/ coordination/estimation, nonlinear control theory, and probabilistic robotics.
Funding Information:
Sonia Martínez is a professor of mechanical and aerospace engineering at the University of California, San Diego. She received the Ph.D. degree in engineering mathematics from the Universidad Carlos III de Madrid, Spain, in May 2002. Following a year as a visiting assistant professor of applied mathematics at the Technical University of Catalonia, Spain, she obtained a Postdoctoral Fulbright Fellowship and held appointments at the Coordinated Science Laboratory of the University of Illinois at Urbana-Champaign during 2004 and the Center for Control, Dynamical Systems and Computation of the University of California, Santa Barbara, during 2005. In a broad sense, her main research interests include the control of network systems, multiagent systems, nonlinear control theory, and robotics. For her work on the control of underactuated mechanical systems, she received the Best Student Paper Award at the 2002 IEEE Conference on Decision and Control. She was the recipient of a National Science Foundation CAREER Award in 2007. For the paper “Motion Coordination with Distributed Information,” coauthored with Jorge Cortés and Francesco Bullo, she received the 2008 Control Systems Magazine Outstanding Paper Award. She has served on the editorial boards of European Journal of Control (2011–2013) and currently serves on the editorial board of Journal of Geometric Mechanics and IEEE Transactions on Control of Network Systems.
PY - 2019/6
Y1 - 2019/6
N2 - Technological advances in ad hoc networking and the availability of low-cost reliable computing, data storage, and sensing devices have made scenarios possible where the coordination of many subsystems extends the range of human capabilities. Smart grid operations, smart transportation, smart health care, and sensing networks for environmental monitoring and exploration in hazardous situations are just a few examples of such network operations. In these applications, the ability of a network system to (in a decentralized fashion) fuse information, compute common estimates of unknown quantities, and agree on a common view of the world is critical. These problems can be formulated as agreement problems on linear combinations of dynamically changing reference signals or local parameters. This dynamic agreement problem corresponds to dynamic average consensus, which, as discussed in "Summary," is the problem of interest of this article. The dynamic average consensus problem is for a group of agents to cooperate to track the average of locally available time-varying reference signals, where each agent is capable only of local computations and communicating with local neighbors.
AB - Technological advances in ad hoc networking and the availability of low-cost reliable computing, data storage, and sensing devices have made scenarios possible where the coordination of many subsystems extends the range of human capabilities. Smart grid operations, smart transportation, smart health care, and sensing networks for environmental monitoring and exploration in hazardous situations are just a few examples of such network operations. In these applications, the ability of a network system to (in a decentralized fashion) fuse information, compute common estimates of unknown quantities, and agree on a common view of the world is critical. These problems can be formulated as agreement problems on linear combinations of dynamically changing reference signals or local parameters. This dynamic agreement problem corresponds to dynamic average consensus, which, as discussed in "Summary," is the problem of interest of this article. The dynamic average consensus problem is for a group of agents to cooperate to track the average of locally available time-varying reference signals, where each agent is capable only of local computations and communicating with local neighbors.
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U2 - 10.1109/MCS.2019.2900783
DO - 10.1109/MCS.2019.2900783
M3 - Article
AN - SCOPUS:85065960791
VL - 39
SP - 40
EP - 72
JO - IEEE Control Systems
JF - IEEE Control Systems
SN - 1066-033X
IS - 3
M1 - 8716798
ER -