Mode Consensus Algorithms With Finite Convergence Time
arxiv(2024)
摘要
This paper studies the distributed mode consensus problem in a multi-agent
system, in which the agents each possess a certain attribute and they aim to
agree upon the mode (the most frequent attribute owned by the agents) via
distributed computation. Three algorithms are proposed. The first one directly
calculates the frequency of all attributes at every agent, with protocols based
on blended dynamics, and then returns the most frequent attribute as the mode.
Assuming knowledge at each agent of a lower bound of the mode frequency as a
priori information, the second algorithm is able to reduce the number of
frequencies to be computed at every agent if the lower bound is large. The
third algorithm further eliminates the need for this information by introducing
an adaptive updating mechanism. The algorithms find the mode in finite time,
and estimates of convergence time are provided. The proposed first and second
algorithms enjoy the plug-and-play property with a dwell time.
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