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Slotted-ALOHA Based Average Consensus Problem with Adaptive Call-Occurrence Probability
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences
Publication Date: 2020/03/01
Online ISSN: 1745-1337
Type of Manuscript: PAPER
Category: Communication Theory and Signals
average consensus problem, slotted-ALOHA, adaptive COP,
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This paper proposes an adaptive call-occurrence probability (COP) setting method for a slotted-ALOHA based consensus problem. Individual agents in the focused consensus problem control themselves in a distributed manner based on the partial information of overall control system which can be received only from the neighbor agents. In order to realize a reliable consensus problem based on wireless communications, we have to consider several constraints caused by the natures of wireless communications such as communication error, coverage, capacity, multi-user interference, half-duplex and so on. This work first investigates the impacts of wireless communication constraints, especially communication coverage, half-duplex, and multiple-access interference constraints, on the quality of control. To mitigate the impact of multiple-access constraint, we propose an adaptive COP setting method that changes the COP corresponding to the states of communication and control. The proposed adaptive COP based slotted-ALOHA needs the information about the number of neighbor agents at its own and neighbor agents, but can still work in a distributed manner. Computer simulations show that the proposed system can achieve better convergence performance compared to the case with the fixed COP based system.