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Communication Dans Un Congrès Année : 2014

Distributed consensus for metamorphic systems using a gossip algorithm for CAT(0) metric spaces

Résumé

We present an application of distributed consensus algorithms to metamorphic systems. A metamorphic system is a set of identical units that can self-assemble to form a rigid structure. For instance, one can think of a robotic arm composed of multiple links connected by joints. The system can change its shape in order to adapt to different environments via reconfiguration of its constituting units. We assume in this work that several metamorphic systems form a network: two systems are connected whenever they are able to communicate with each other. The aim of this paper is to propose a distributed algorithm that synchronizes all the systems in the network. Synchronizing means that all the systems should end up having the same configuration. This aim is achieved in two steps: (i) we cast the problem as a consensus problem on a metric space and (ii) we use a recent distributed consensus algorithm that only make use of metrical notions
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Dates et versions

hal-01262467 , version 1 (26-01-2016)

Identifiants

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Anass Bellachehab, Jérémie Jakubowicz. Distributed consensus for metamorphic systems using a gossip algorithm for CAT(0) metric spaces. MAXENT 2014 : 34th International Workshop on Bayesian Inference and Maximum Entropy Methods in Science and Engineering, Sep 2014, Amboise, France. pp.530 - 537, ⟨10.1063/1.4906019⟩. ⟨hal-01262467⟩
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