Consensus Analysis of Wireless Multi-Agent Systems Over Fading Channels

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Abstract
In this letter, the probability of reaching consensus in wireless multi-agent systems (WMASs) is introduced. Starting with the connectivity probability of random graphs, and considering link outages between agents, we obtain the probability expression that a WMAS with N agents reaches consensus. We validate the obtained exact expression via simulation results. Furthermore, we show that the corresponding diversity order is N -1, hence increasing the number of agents will contribute towards the likelihood of consensus, despite the increased communication need between each agent. Finally, we observe that the consensus speed is highly dependent on the signal-to-noise ratio (SNR) level and the number of agents in a WMAS.
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  • TÜBİTAK (115E827)

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