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Lecture

Consensus Algorithms: Weight Assignment and Applications

In course

ME-427: Networked control systems

This course offers an introduction to control systems using communication networks for interfacing sensors, actuators, controllers, and processes. Challenges due to network non-idealities and opportunities offered by communication will be analyzed. ...

Description

This lecture covers the design of graph weights to ensure consensus in networked control systems, including the Metropolis-Hasting model and the computation of weighted adjacency matrices. It also explores applications of consensus algorithms such as BLUE estimation in sensor networks and node counting.

Instructor

Giancarlo Ferrari Trecate

Official source

Ontological neighbourhood

Mathematics

Discrete mathematics: Graph theory

Related concepts (32)

Graph (discrete mathematics)

In discrete mathematics, and more specifically in graph theory, a graph is a structure amounting to a set of objects in which some pairs of the objects are in some sense "related". The objects correspond to mathematical abstractions called vertices (also called nodes or points) and each of the related pairs of vertices is called an edge (also called link or line). Typically, a graph is depicted in diagrammatic form as a set of dots or circles for the vertices, joined by lines or curves for the edges.

Adjacency matrix

In graph theory and computer science, an adjacency matrix is a square matrix used to represent a finite graph. The elements of the matrix indicate whether pairs of vertices are adjacent or not in the graph. In the special case of a finite simple graph, the adjacency matrix is a (0,1)-matrix with zeros on its diagonal. If the graph is undirected (i.e. all of its edges are bidirectional), the adjacency matrix is symmetric. The relationship between a graph and the eigenvalues and eigenvectors of its adjacency matrix is studied in spectral graph theory.

Graph theory

In mathematics, graph theory is the study of graphs, which are mathematical structures used to model pairwise relations between objects. A graph in this context is made up of vertices (also called nodes or points) which are connected by edges (also called links or lines). A distinction is made between undirected graphs, where edges link two vertices symmetrically, and directed graphs, where edges link two vertices asymmetrically. Graphs are one of the principal objects of study in discrete mathematics.

Directed graph

In mathematics, and more specifically in graph theory, a directed graph (or digraph) is a graph that is made up of a set of vertices connected by directed edges, often called arcs. In formal terms, a directed graph is an ordered pair where V is a set whose elements are called vertices, nodes, or points; A is a set of ordered pairs of vertices, called arcs, directed edges (sometimes simply edges with the corresponding set named E instead of A), arrows, or directed lines.

Path (graph theory)

In graph theory, a path in a graph is a finite or infinite sequence of edges which joins a sequence of vertices which, by most definitions, are all distinct (and since the vertices are distinct, so are the edges). A directed path (sometimes called dipath) in a directed graph is a finite or infinite sequence of edges which joins a sequence of distinct vertices, but with the added restriction that the edges be all directed in the same direction. Paths are fundamental concepts of graph theory, described in the introductory sections of most graph theory texts.

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Explores consensus in networked control systems through graph weight design and matrix properties.

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Explores the Laplacian matrix and consensus in networked control systems.

Networked Control Systems: Properties and Connectivity

Explores properties of matrices, irreducibility, and graph connectivity in networked control systems.

Distributed Computation: Consensus Algorithms in Networked Control Systems

Explores consensus algorithms in networked control systems, covering topics like Metropolis-Hasting models and distributed computation of Least-Squares regression.

Graph Algorithms: Modeling and Traversal