Self-Triggered Network Coordination over Noisy Communication Channels

TL;DR

This paper presents a novel self-triggered coordination scheme for networked systems that achieves practical consensus despite unknown bounded noise, without requiring global network information or synchronized sampling.

Contribution

It introduces a noise-robust, decentralized coordination method that allows asynchronous sampling and guarantees bounded disagreement in noisy communication environments.

Findings

Ensures practical consensus in noisy channels

Operates without global network parameters

Supports asynchronous, aperiodic sampling

Abstract

This paper investigates coordination problems over packet-based communication channels. We consider the scenario in which the communication between network nodes is corrupted by unknown-but-bounded noise. We introduce a novel coordination scheme, which ensures practical consensus in the noiseless case, while preserving bounds on the nodes disagreement in the noisy case. The proposed scheme does not require any global information about the network parameters and/or the operating environment (the noise characteristics). Moreover, network nodes can sample at independent rates and in an aperiodic manner. The analysis is substantiated by extensive numerical simulations.