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Entropy 2015, 17(3), 1165-1180; doi:10.3390/e17031165

Distributed Consensus for Metamorphic Systems Using a GossipAlgorithm for CAT(0) Metric Spaces

Telecom SudParis, Institut Mines-Télécom, UMR CNRS 5157 SAMOVAR, 9 Rue Charles Fourier, 91000 Évry, France
This paper is an extended version of my paper published in MaxEnt 2014, Amboise, France, 21–26 September 2014.
Received: 30 December 2014 / Revised: 5 March 2015 / Accepted: 9 March 2015 / Published: 12 March 2015
(This article belongs to the Special Issue Information, Entropy and Their Geometric Structures)
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Abstract

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 of the systems in the network. Synchronizing means that all of 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 makes use of metrical notions. View Full-Text
Keywords: metamorphic systems metamorphic systems
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Bellachehab, A. Distributed Consensus for Metamorphic Systems Using a GossipAlgorithm for CAT(0) Metric Spaces. Entropy 2015, 17, 1165-1180.

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